The Robotic Operating System (ROS) is an open-source set of software frameworks, providing a plethora of services used to develop the software that runs on robots. ROS2 is an API overhaul for ROS, intended to open up the framework to the option of working in real time, as well as running on a wider range of machines. The objective of this thesis is to write an Hardware Interface capable of working with the COMAU family of robots within the ROS 2 framework. To do this the starting point was the Comau hardware interface which had already been developed for the ROS 1 framework, which was analyzed to see which parts could be ported over to the new one, then the examination moved onto the ROS 2 Comau driver to determine how the new interface would interact with the rest of the package.