# ros2_control Skill

Hardware abstraction and controller management using ros2_control framework.

## Purpose

Provides expert capabilities for configuring the ros2_control framework, enabling standardized hardware abstraction and controller management for ROS2 robots.

## Key Features

- Hardware interface configuration
- Controller manager setup
- Joint trajectory control
- Diff drive and ackermann controllers
- Custom hardware interfaces
- Real-time control support

## When to Use

- Setting up robot hardware interfaces
- Configuring joint controllers
- Implementing mobile robot controllers
- Building custom hardware drivers
- Integrating with MoveIt
