{
  "id": "ros2-control-artifact-example-16-bringup-config-diffbot-chained-controllers-yaml",
  "name": "ros2_control demo artifacts: example 16/bringup/config/diffbot chained controllers.yaml",
  "summary": "Official pinned control configuration text for example 16/bringup/config/diffbot chained controllers.yaml. Inspect the upstream package and adjacent assets before use.",
  "framework": "ros2-control",
  "kind": "official_example",
  "source_registry": "official-robot-artifacts-v1",
  "artifact": {
    "kind": "control_configuration",
    "format": "yaml",
    "role": "Source/configuration reference; not an executable Hub skill",
    "structure": {
      "keys": [
        "angular.z.max_acceleration",
        "angular.z.max_jerk",
        "angular.z.max_velocity",
        "angular.z.min_acceleration",
        "angular.z.min_jerk",
        "angular.z.min_velocity",
        "base_frame_id",
        "cmd_vel_timeout",
        "command_interface",
        "controller_manager",
        "diffbot_base_controller",
        "dof_names",
        "enable_odom_tf",
        "gains",
        "joint_state_broadcaster",
        "left_wheel_joint",
        "left_wheel_names",
        "left_wheel_radius_multiplier",
        "linear.x.max_acceleration",
        "linear.x.max_jerk",
        "linear.x.max_velocity",
        "linear.x.min_jerk",
        "linear.x.min_velocity",
        "odom_frame_id",
        "open_loop",
        "pid_controller_left_wheel_joint",
        "pid_controller_right_wheel_joint",
        "pose_covariance_diagonal",
        "position_feedback",
        "publish_limited_velocity",
        "publish_rate",
        "reference_and_state_interfaces",
        "right_wheel_joint",
        "right_wheel_names",
        "right_wheel_radius_multiplier",
        "ros__parameters",
        "twist_covariance_diagonal",
        "type",
        "update_rate",
        "wheel_radius"
      ],
      "keys_truncated": true
    }
  },
  "capabilities": [
    "control-configuration",
    "controller-configuration",
    "joint-control",
    "ros2",
    "ros2-control"
  ],
  "robot_types": [
    "source-defined"
  ],
  "robot_scope": "Labels identify this description/configuration source; they do not establish runtime, controller or physical-robot compatibility.",
  "source": {
    "repository": "https://github.com/ros-controls/ros2_control_demos",
    "commit": "3c35e783e268e5235bb042a71c68112a3ecb777e",
    "tag": "jazzy",
    "path": "example_16/bringup/config/diffbot_chained_controllers.yaml",
    "url": "https://github.com/ros-controls/ros2_control_demos/blob/3c35e783e268e5235bb042a71c68112a3ecb777e/example_16/bringup/config/diffbot_chained_controllers.yaml",
    "raw_url": "https://raw.githubusercontent.com/ros-controls/ros2_control_demos/3c35e783e268e5235bb042a71c68112a3ecb777e/example_16/bringup/config/diffbot_chained_controllers.yaml",
    "sha256": "42ff4934df6d8a8b0d194d84de7cbe23bc673f4d7d884181ca9eff1056e84c95",
    "bytes": 2534
  },
  "license": {
    "spdx": "Apache-2.0",
    "url": "https://github.com/ros-controls/ros2_control_demos/blob/3c35e783e268e5235bb042a71c68112a3ecb777e/LICENSE",
    "sha256": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30",
    "scope": "Selected robot-description/configuration source text only. Preserve upstream notices; meshes, textures, dependencies and trademarks retain their separate licenses."
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.",
    "setup_url": "https://github.com/ros-controls/ros2_control_demos/blob/3c35e783e268e5235bb042a71c68112a3ecb777e/README.md"
  },
  "requirements": {
    "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
    "packages": [
      "ROS 2 Jazzy and the selected ros2_control_demo package from the pinned checkout"
    ],
    "display": "Controller parameters and robot descriptions must be used with the matching demo package and hardware interface. Loading them can configure a real robot; no deployment or motion was performed.",
    "execution_domain": "configuration",
    "source_imports": []
  },
  "invocation": {
    "entrypoint": "Data/configuration artifact: example_16/bringup/config/diffbot_chained_controllers.yaml; use its upstream loader or package integration after inspection",
    "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 865,
    "checked_at": "2026-10-18",
    "meaning": "Dated repository interest, not artifact use or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-18",
    "inspection": "Verified exact source and applicable license SHA-256 bytes. Inspected UTF-8 configuration text and mapping-key shape; YAML semantics and ROS parameter compatibility were not evaluated.",
    "inspection_method": "automated_static",
    "artifact_kind": "control_configuration"
  }
}