Skills ros2-control-execution

Execute ROS 2 Control state-changing commands (load, switch, unload) in a sandboxed environment. Supports parameter profiles.

install

source · Clone the upstream repo

git clone https://github.com/openclaw/skills

Claude Code · Install into ~/.claude/skills/

T=$(mktemp -d) && git clone --depth=1 https://github.com/openclaw/skills "$T" && mkdir -p ~/.claude/skills && cp -r "$T/skills/bigrobinson/ros2-control-execution" ~/.claude/skills/clawdbot-skills-ros2-control-execution && rm -rf "$T"

manifest: skills/bigrobinson/ros2-control-execution/SKILL.md

source content

ROS 2 Control Execution (Sandboxed)

Setup & Installation

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

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

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

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