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.

```bash

source /opt/ros//setup.bash

source ~/my_ros_ws/install/setup.bash

```

1. Run setup:

```bash

./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 [native_flags] [--profile | --params-file ]

• 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