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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`
Iron	Edifice	iron	only from source
Iron	Fortress	iron	https://packages.ros.org	`ros-iron-gz-ros2-control`
Iron	Garden	iron	only from source
Iron	Harmonic	iron	only from source
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	Documentation
Rolling	`rolling`	Documentation <br /> API Reference
Jazzy	`jazzy`	Documentation <br /> API Reference
Iron	`iron`	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