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	Build status	Documentation
Rolling	rolling		Documentation API Reference
Jazzy	jazzy		Documentation API Reference
Iron	iron		Documentation API Reference
Humble	humble		Documentation 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