ROS2 Control - Robot manipulation

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Demo for the hardware interface of NACHI MZ25 manipulator in ROS2 Foxy
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Should you tell me that how can I control open Manipulation by ROS2? I'm fan of it

JihnFakery
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Could you share your ROS2 control.xacro file, or can you provide me any link to create ros2 control.xacro file for custom hardware. I'm working on open manipulator-x.
Thanks in advance!!!

_mayankmukesh