ign_ros_control

This is a ROS package for integrating the ros_control controller architecture with the Ignition Gazebo simulator. More information about ros_control can be found here: https://control.ros.org/.

This package takes inspiration (and lines of code) from ign_ros2_control and gazebo_ros_control.

Demos

You can run some of the example configurations by running the following commands:

roslaunch ign_ros_control_demos cartpole.launch controller:=joint_position_controller
roslaunch ign_ros_control_demos cartpole.launch controller:=joint_velocity_controller
roslaunch ign_ros_control_demos cartpole.launch controller:=joint_effort_controller