ros2_control-skill

# ros2_control Skill ## Overview Expert skill for configuring the ros2_control framework for hardware abstraction, controller management, and real-time robot control. ## Capabilities - Configure hardware interfaces (GPIO, system, actuator, sensor) - Set up controller manager and controller lifecycle - Implement position, velocity, and effort controllers - Configure joint trajectory controller - Set up diff_drive and ackermann controllers - Implement custom hardware interfaces - Configure transmission interfaces - Set up joint limits and saturation - Implement combined robot controllers - Debug controller loading and activation ## Target Processes - robot-system-design.js - mpc-controller-design.js - moveit-manipulation-planning.js - robot-bring-up.js ## Dependencies - ros2_control - ros2_controllers - hardware_interface ## Usage Context This skill is invoked when processes require hardware abstraction layer setup, controller configuration, or real-time control system integration. ## Output Artifacts - Hardware interface configurations - Controller YAML parameters - URDF ros2_control tags - Custom hardware interface code - Controller launch files - Transmission configurations