hardware-abstraction-layer

Abstract hardware interfaces behind standard ROS 2 contracts like cmd_vel, odom, LIDAR, and IMU topics. This decouples hardware drivers from Nav2 and SLAM stacks, enabling seamless driver swapping without altering higher-level logic.

Implement the ros2_control hardware abstraction pattern to define standard interface contracts. This translates hardware protocols into ROS 2 interfaces, enabling interchangeable driver nodes for multi-actuator robots.

Build a thin-adapter driver node that translates Twist commands to wheel speeds and publishes Odometry for your robot base. This pattern translates hardware protocols to ROS 2 interfaces using practical motor-driver examples.

Yes, you can swap LIDAR and IMU drivers without changing higher-level ROS 2 code by defining standard interface contracts. This hardware abstraction decouples software from hardware specifics across your stack.

You need hardware abstraction layers in ROS 2 when developing interchangeable driver nodes, integrating ros2_control, or swapping hardware across stacks like Nav2. It decouples software from hardware specifics.