ROS 2 Control Execution (Sandboxed)

Setup & Installation

Before this skill can be used, the local environment must be configured.

1. Source your environment: You MUST source your ROS 2 environment first.

   source /opt/ros/<distro>/setup.bash
   source ~/my_ros_ws/install/setup.bash
   

2. Run setup:

   ./scripts/setup.sh
   

Overview

Use this skill to modify the ros2_control graph. You can use it to load, configure, start, stop, and switch controllers.

SECURITY CONSTRAINT: You must ALWAYS use the safe wrapper script located at ./scripts/safe_ros2_control_execution.py. This script uses Python's subprocess (shell=False) to prevent command injection and validates the command against a strict allowlist.

Wrapper Path: Resolve ./scripts/safe_ros2_control_execution.py against this SKILL.md directory.

Allowed Commands

Usage: ./scripts/safe_ros2_control_execution.py <subcommand> [native_flags] [--profile <name> | --params-file <path>]

• load_controller
• reload_controller_libraries
• set_controller_state
• set_hardware_component_state
• switch_controllers
• unload_controller
• cleanup_controller

Examples:

• Load a controller: ./scripts/safe_ros2_control_execution.py load_controller joint_trajectory_controller -c /controller_manager
• Set controller state (e.g., to active): ./scripts/safe_ros2_control_execution.py set_controller_state joint_trajectory_controller active -c /controller_manager
• Switch controllers: ./scripts/safe_ros2_control_execution.py switch_controllers --activate joint_trajectory_controller --deactivate position_controller -c /controller_manager
• Using a parameter profile (for complex --ros-args): ./scripts/safe_ros2_control_execution.py load_controller my_ctrl -c /my_manager --profile outdoor_tuning