A micro-ROS-based ros2_control hardware interface enables seamless integration of microcontroller-based actuators and sensors with the ROS2 ecosystem by implementing the hardware_interface::SystemInterface or hardware_interface::ActuatorInterface classes that communicate with embedded devices running micro-ROS agents.
This architecture allows real-time control loops to execute on resource-constrained microcontrollers while exposing standard ros2_control command and state interfaces to higher-level controllers. The hardware interface acts as a bridge, translating ros2_control's read() and write() methods into micro-ROS messages that are sent to/from the microcontroller, enabling distributed control systems where time-critical operations run locally on embedded hardware while benefiting from ROS2's rich ecosystem of planning, perception, and monitoring tools.