Legato ROS2 Integration

Overview

This repository provides the ROS2 integration and ros2_control support for actuators supported by the Legato Unified Actuator SDK.

You'll need both repositories cloned into your ROS 2 workspace (e.g., ~/colcon_ws/src):

$ git clone https://github.com/open-actuator/legato.git
$ git clone https://github.com/open-actuator/legato-ros2.git

• legato: Contains the core unified actuator SDK (C++ library with Python bindings).
• legato-ros2 (this repository): Provides the ROS2 nodes, ros2_control integration, and actuator-specific ROS2 interfaces.

Install dependencies using:

$ rosdep install --from-paths src/ --ignore-src -r -y

For building your workspace:

$ colcon build --symlink-install

Detailed documentation for each supported actuator, usage examples, and configuration details will be added shortly.

License 📃

MIT License. See LICENSE for more details.