ROS 2 Control Introspection (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 inspect the ros2_control graph. It is STRICTLY read-only. You cannot use this skill to load, switch, or modify controllers (use ros2-control-execution for that).

SECURITY CONSTRAINT: You must ALWAYS use the safe wrapper script located at ./scripts/safe_ros2_control_introspection.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_introspection.py against this SKILL.md directory.

Allowed Commands

Usage: ./scripts/safe_ros2_control_introspection.py <subcommand> [native_flags] [--profile <name> | --params-file <path>]

• list_controllers
• list_controller_types
• list_hardware_components
• list_hardware_interfaces
• view_controller_chains

Examples:

• Basic list: ./scripts/safe_ros2_control_introspection.py list_controllers
• Targeting a specific controller manager: ./scripts/safe_ros2_control_introspection.py list_controllers -c /my_controller_manager
• Using a parameter profile (for complex --ros-args): ./scripts/safe_ros2_control_introspection.py view_controller_chains -c /my_manager --profile my_tuning_file