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ros2_control Skill

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Hardware abstraction and controller management using ros2_control framework

library/specializations/robotics-simulation/skills/ros2-control/SKILL.md

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# 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
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