This paper presents Capabilities2, an advanced skill-based control framework for human-robot interaction (HRI) in ROS2. Capabilities2 enables robots to perform complex tasks by defining and managing skills, which are modular units of functionality. The framework facilitates interoperability, communication, and service management between different components of the robot system, enhancing the robot’s ability to interact effectively with humans.
M. Pritchard, K. Ratnayake, B. Gamage, M. Jayasuriya and D. Herath, “Capabilities2 for ROS2: Advanced Skill-Based Control for Human-Robot Interaction,” 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Melbourne, Australia, 2025, pp. 1067-1071, doi: 10.1109/HRI61500.2025.10973863