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gz_ros2_control
| ROS2 Distro | Build Status | Package build |
|---|---|---|
 |
This is a ROS 2 package for integrating the ros2_control controller architecture with the Gazebo simulator.
More information about ros2_control can be found here: https://control.ros.org/
This package provides a Gazebo-Sim system plugin which instantiates a ros2_control controller manager and connects it to a Gazebo model.
| ROS version | Gazebo version | Branch | Binaries hosted at | APT key |
|---|---|---|---|---|
| Humble | Fortress | humble | https://packages.ros.org | ros-humble-ign-ros2-control |
| Jazzy | Harmonic | jazzy | https://packages.ros.org | ros-jazzy-gz-ros2-control |
| Rolling | Harmonic | rolling | https://packages.ros.org | ros-rolling-gz-ros2-control |
Build status
| ROS 2 Distro | Branch | Build status | Documentation |
|---|---|---|---|
| Rolling | rolling |  | Documentation <br /> API Reference |
| Jazzy | jazzy |  | Documentation <br /> API Reference |
| Humble | humble |  | Documentation <br /> API Reference |
Documentation
See the documentation file or control.ros.org
Compile from source
Note that gz_ros2_control depends on the version of Gazebo that is
provided by the Gazebo Vendor packages gz_plugin_vendor and gz_sim_vendor.
Currently, for ROS 2 Jazzy and Rolling, the Gazebo version is Harmonic.
To compile gz_ros2_control from source, create a workspace, clone the correct branch of this repo and compile it:
mkdir -p ~/gz_ros2_control_ws/src
cd ~/gz_ros2_control_ws/src
git clone https://github.com/ros-controls/gz_ros2_control -b {ROS_DISTRO}
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/gz_ros2_control_ws
colcon build