ROS2
===========

Download and installation
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The Bota Payload Utilities are distributed as **open source wrapper** around the C++ library, implemented as a single **ROS2 package** named ``bota_payload_utils``.


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  <div style="background: linear-gradient(135deg, #f8f9fa, #e9ecef); border-left: 5px solid rgb(218, 101, 39); padding: 25px; margin: 25px 0; border-radius: 6px; box-shadow: 0 2px 10px rgba(0,0,0,0.1);">
    <p style="margin-bottom: 20px; color: #495057;">Found the package implementation in our official GitLab repository.</p>
    <a href="https://gitlab.com/botasys/control_toolkit/bota_payload_utils_ros2" target="_blank" style="background: rgb(218, 101, 39); color: white; padding: 12px 25px; text-decoration: none; border-radius: 10px; font-weight: bold; display: inline-block; box-shadow: 0 3px 10px rgba(218, 101, 39, 0.3); transition: all 0.3s ease;" onmouseover="this.style.background='#b8541f'; this.style.transform='translateY(-3px) scale(1.05)'; this.style.boxShadow='0 8px 25px rgba(218, 101, 39, 0.3)'" onmouseout="this.style.background='rgb(218, 101, 39)'; this.style.transform='translateY(0) scale(1)'; this.style.boxShadow='0 3px 10px rgba(218, 101, 39, 0.3)'">
      <code style="background: #ffffff; color: #b8541f; padding: 1px 6px; border-radius: 2px; font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, 'Roboto Mono', 'Courier New', monospace; font-weight: 700; font-size: 0.72em; display: inline-block; vertical-align: middle;">bota_payload_utils</code>
      <span style="margin-left:10px; color: #ffffff; font-weight:700; vertical-align: middle;">on GitLab</span>
    </a>
  </div>


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Variants
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   <div style="background: #ecececff; border: 2px solid #808080; border-radius: 16px; padding: 44px 30px 36px 30px; margin: 50px 0 0 0; box-shadow: 0 8px 30px rgba(0,0,0,0.15); text-align: center;">
     <h3 style="color: #ffffff; margin: 0 0 18px 0; font-size: 28px; sfont-weight: 800;">
       Ready to Get Started?
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     <p style="color: #757575ff; margin: 0 0 32px 0; font-size: 18px; line-height: 1.6; max-width: 600px; margin-left: auto; margin-right: auto;">
       Select the ROS2 driver variant that best fits your application needs.
     </p>
     <div style="display: flex; flex-wrap: wrap; justify-content: center; gap: 32px;">
       <!-- Standard Node Card -->
       <div style="background: #fff; border: 2px solid #da6527; border-radius: 16px; box-shadow: 0 4px 18px rgba(218,101,39,0.09); padding: 32px 30px 28px 30px; min-width: 270px; max-width: 340px; flex: 1 1 270px; display: flex; flex-direction: column; align-items: center;">
         <div style="font-size: 22px; font-weight: 700; color: #da6527; margin-bottom: 10px;">Standard Nodes</div>
         <div style="color: #495057; font-size: 15px; font-style: italic; margin-bottom: 14px; text-align: center;">
           Fast prototyping and small applications that do not require strong safety requirements.
         </div>
         <a href="payload_utils_ros2_standard_node.html" style="background: #da6527; color: white; padding: 10px 28px; text-decoration: none; border-radius: 8px; font-weight: 700; font-size: 16px; margin-bottom: 10px; transition: all 0.3s ease;" onmouseover="this.style.background='#b8541f';" onmouseout="this.style.background='#da6527';">
           Learn more
         </a>
       </div>
       <!-- ros2_control Card -->
       <div style="background: #fff; border: 2px solid #da6527; border-radius: 16px; box-shadow: 0 4px 18px rgba(218,101,39,0.09); padding: 32px 30px 28px 30px; min-width: 270px; max-width: 340px; flex: 1 1 270px; display: flex; flex-direction: column; align-items: center;">
         <div style="font-size: 22px; font-weight: 700; color: #da6527; margin-bottom: 10px;">ros2_control</div>
         <div style="color: #495057; font-size: 15px; font-style: italic; margin-bottom: 14px; text-align: center;">
           For applications within the ros2_control framework with strong real-time and safety requirements.
         </div>
         <a href="payload_utils_ros2_control_controller.html" style="background: #da6527; color: white; padding: 10px 28px; text-decoration: none; border-radius: 8px; font-weight: 700; font-size: 16px; margin-bottom: 10px; transition: all 0.3s ease;" onmouseover="this.style.background='#b8541f';" onmouseout="this.style.background='#da6527';">
           Learn more
         </a>
       </div>
     </div>
   </div>

.. toctree::
  :hidden:
  :maxdepth: 3

  payload_utils_ros2_standard_node
  payload_utils_ros2_lifecycle_node
  payload_utils_ros2_control_controller