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ros2-control-execution

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

skill-install — Terminal

Install via CLI (Recommended)

clawhub install openclaw/skills/skills/bigrobinson/ros2-control-execution
Or

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. 
    source /opt/ros/<distro>/setup.bash
source ~/my_ros_ws/install/setup.bash
  2. 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
Read Full Documentation on GitHub

Metadata

Author@bigrobinson
Stars4473
Views1
Updated2026-05-01
View Author Profile
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Add to Configuration

Paste this into your clawhub.json to enable this plugin.

{
  "plugins": {
    "official-bigrobinson-ros2-control-execution": {
      "enabled": true,
      "auto_update": true
    }
  }
}
Safety NoteClawKit audits metadata but not runtime behavior. Use with caution.

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