具身智能(8)：EtherCAT IGH+ROS2扩展：ROS2-Controller

一、ROS2-Controllers 完整集成（工业标准接口）1. 核心目标实现 joint_trajectory_controller（轨迹跟踪）、joint_state_broadcaster（状态广播）与 IgH 主站的对接，兼容 ROS2 运动控制生态，支持 MoveIt! 规划器直接下发轨迹。2. 依赖安装# 安装 ROS2-Controllers 核心包sudo apt install ros-humble-ros2-controllers ros-humble-controller-manager ros-humble-joint-trajectory-controller3. 硬件接口实现（src/ethercat_hardware_interface.cpp）#include _interface.hpp#include hardware_interface/handle.hpp#include _interface/hardware_info.hpp#include _interface/types/hardware_interface_return_values.hpp#include cpp.hpp#include ethercat.h