Export ROS 2 | OpenRGD

REQUIRED SEQUENCE

Verify, compile, export.

ROS 2 exportshell

rgd hash
rgd compile-spec
rgd export ros2 --out export/ros2

GENERATED ARTIFACTS

Every successful export explains what it produced.

ros2_control.yaml

Static controller / joint configuration.

rgd_limits.xacro

Deterministic exported joint limits and units.

export_manifest.json

Source root, bundle digest, robot identity, joint set and completeness status.

rgd_hardware.xacro

Generated only when every joint has complete explicit HAL interfaces and one system driver plugin.

EXPORT STATUS

Incomplete hardware evidence remains visible.

possible statusesshell

CONFIGURATION_ONLY
HARDWARE_BOUND

CONFIGURATION_ONLY is a successful static export with incomplete or intentionally withheld hardware bindings. It is not permission to execute.

IMPORTED BODY ISOLATION

Joint-name collisions cannot smuggle hardware mappings into an imported body.

binding ruleshell

source-derived joint topology + limits
              ↓
static configuration export

seed actuator / HAL bindings
              ✕ not inherited by name collision

UNAVAILABLE TARGET

Isaac export fails explicitly.

not implementedshell

rgd export isaac
# exits explicitly with code 2

The historical Isaac generator was a placeholder and is not advertised as an active target.

Generate static interoperability artifacts — not a running robot.

Verify, compile, export.

Every successful export explains what it produced.

ros2_control.yaml

rgd_limits.xacro

export_manifest.json

rgd_hardware.xacro

Incomplete hardware evidence remains visible.

Joint-name collisions cannot smuggle hardware mappings into an imported body.

Isaac export fails explicitly.

Continue through the verified toolchain.

Validation

Synapses

Interoperability