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Ros2 control

Skill a5c-ai/babysitter/library/specializations/robotics-simulation/skills/ros2-control

Hardware abstraction and controller management using ros2_control frameworkFrom its SKILL.md

Install
npx -y skills add a5c-ai/babysitter --skill ros2-control

Assembled from the repository path, not quoted from the project. Check it against their README if it does not work.

SKILL.md

1.6 KB, 233 tokens by cl100k_base, as published. Nobody here has run it

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

What ships with it: 1 file

663 B alongside SKILL.md

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