ROS 2 Execution (Sandboxed)

Setup & Installation

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

The setup script dynamically discovers your ROS paths and approved workspaces. You can re-run the setup script at any time if you add new workspaces.

1. Source your environment: You MUST source your ROS 2 environment and any local workspaces first in your terminal.

```bash

source /opt/ros//setup.bash

source ~/my_ros_ws/install/setup.bash

```

1. Run setup:

```bash

./scripts/setup.sh

```

1. Whitelist Packages: Edit config/packages.json to explicitly allow the packages you want the agent to execute.
2. Parameter Profiles (Optional): Create YAML parameter files in ~/.openclaw/workspace/ros_profiles/ for quick execution using the --profile flag.

Overview

Use this skill to execute ROS 2 commands.

SECURITY CONSTRAINT: You must ALWAYS use the safe wrapper script located at ./scripts/safe_ros2_execution.py.

This script performs strict security checks using Python's subprocess (no raw shell execution, preventing injection) and validates:

1. The command type (must be run/launch/call).
2. The package is in an approved workspace.
3. The package is explicitly allowlisted.

Wrapper Path: Resolve ./scripts/safe_ros2_execution.py against this SKILL.md directory.

Allowed Commands

Usage: ./scripts/safe_ros2_execution.py [--profile | --params-file ] [extra_args]

• Run a node:

./scripts/safe_ros2_execution.py run

• Run a node with a Parameter Profile:

./scripts/safe_ros2_execution.py run --profile outdoor

(Loads from ~/.openclaw/workspace/ros_profiles/outdoor.yaml)

• Run a node with a specific Params File:

./scripts/safe_ros2_execution.py run --params-file /tmp/temp_params.yaml

• Launch a file:

./scripts/safe_ros2_execution.py launch

• Call a service:

./scripts/safe_ros2_execution.py service_call

• Send an action goal:

./scripts/safe_ros2_execution.py action_send_goal

Handling Parameters (--ros-args)

Avoid passing complex strings (like nested arrays or JSON dictionaries) directly in the command arguments. Instead:

1. Write the parameters to a temporary YAML file.
2. Use the --params-file /path/to/file.yaml flag to safely load them.
3. For recurring setups, save the YAML file to ~/.openclaw/workspace/ros_profiles/.yaml and use --profile .