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ros2_control Skill

Apps & Automation
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Hardware abstraction and controller management using ros2_control framework

QUICK START

How to use this skill

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  2. Copy the prompt below and paste it into your agent.
  3. Review the proposed files and risks before you approve installation.
Prompt to paste
I want to install this Agent Skill for this project in Codex.

Source SKILL.md: https://github.com/a5c-ai/babysitter/blob/HEAD/library/specializations/robotics-simulation/skills/ros2-control/SKILL.md

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First, summarize what it does, its dependencies, license status if identifiable, and any risks. Show the exact files you propose to add under .agents/skills/ros2-control-skill/. Do not write files or run scripts until I approve.

After I approve, install the complete skill folder, including required referenced files, into that project location. Verify it is discoverable, then tell me its actual invocation name and how to use it. Do not claim it is installed until you have verified it.

Copying this prompt does not install or run the skill. Review third-party files before use. Codex skill guide

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