ROS2 Control Introspection

Execute ROS 2 Control read-only introspection commands (list, view) in a sandboxed environment. Supports parameter profiles.

Security Scan

The skill's code, instructions, and required inputs are consistent with a read-only ROS 2 Control introspection helper and do not request unrelated credentials or installs.

Purpose & Capability

The skill exposes only read-only ros2 control subcommands, requires sourcing a ROS 2 environment and the AMENT_PREFIX_PATH (expected for ROS tools), and stores ROS setup/workspace paths in a local config file — all consistent with its stated purpose.

Instruction Scope

Runtime instructions require sourcing ROS 2 setup scripts and running the provided safe wrapper. The wrapper enforces an allowlist of subcommands and executes ros2 via subprocess without shell=True. Note: the wrapper will source the ROS setup.bash (executing that file) to build the environment and can accept a user-supplied --params-file path or named profile (~/.openclaw/...), which will be read if provided; this is expected for parameterized introspection but means you should only provide trusted param files.

Install Mechanism

There is no install spec and only small included scripts; nothing is downloaded or extracted from external URLs. Setup simply checks for ros2 and writes a local config.json — low-risk.

Credentials

No credentials or secret env vars are requested. The script reads AMENT_PREFIX_PATH and discovers the ros2 binary and setup.bash (appropriate for ROS tooling). Allowing a user-specified params-file/profile is proportional to the feature.

Persistence & Privilege

The skill does not request always:true, does not modify other skills, and does not persist credentials or enable itself. It writes a local config.json within the skill tree (expected).

Assessment

This skill appears coherent and limited to read-only ROS 2 Control introspection. Before installing: (1) verify you trust the ROS 2 distribution referenced by the setup.bash path (the wrapper sources that file to build the environment), (2) inspect any parameter profile files you pass (~/ .openclaw/workspace/ros_profiles/<profile>.yaml or a --params-file) — they will be read and used by ros2, and (3) run the provided setup.sh only after sourcing your ROS environment as instructed. Avoid passing untrusted paths as --params-file; otherwise the skill is proportionate to its stated purpose.

ROS 2 Control Introspection (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 inspect the ros2_control graph. It is STRICTLY read-only. You cannot use this skill to load, switch, or modify controllers (use ros2-control-execution for that).

SECURITY CONSTRAINT: You must ALWAYS use the safe wrapper script located at ./scripts/safe_ros2_control_introspection.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_introspection.py against this SKILL.md directory.

Allowed Commands

Usage: ./scripts/safe_ros2_control_introspection.py <subcommand> [native_flags] [--profile <name> | --params-file <path>]

• list_controllers
• list_controller_types
• list_hardware_components
• list_hardware_interfaces
• view_controller_chains

Examples:

• Basic list: ./scripts/safe_ros2_control_introspection.py list_controllers
• Targeting a specific controller manager: ./scripts/safe_ros2_control_introspection.py list_controllers -c /my_controller_manager
• Using a parameter profile (for complex --ros-args): ./scripts/safe_ros2_control_introspection.py view_controller_chains -c /my_manager --profile my_tuning_file