  A key component of any robot is the interface between ROS2 software and
physical motors. New robots often use arbitrary, messy mixtures of closed and
open motor drivers and error-prone physical mountings, wiring, and connectors
to interface them. There is a need for a standardizing OSH component to
abstract this complexity, as Arduino did for interfacing to smaller components.
We present a OSH printed circuit board to solve this problem once and for all.
On the high-level side, it interfaces to Arduino Giga -- acting as an unusually
large and robust shield -- and thus to existing open source ROS software
stacks. On the lower-level side, it interfaces to existing emerging standard
open hardware including OSH motor drivers and relays, which can already be used
to drive fully open hardware wheeled and arm robots. This enables the creation
of a family of standardized, fully open hardware, fully reproducible, research
platforms.
