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	master	https://packages.ros.org	ros-jazzy-gz-ros2-control
Rolling	Harmonic	master	https://packages.ros.org	ros-rolling-gz-ros2-control

Build status

ROS 2 Distro	Branch	Build status	Documentation
Rolling	master		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

If you want compile this from source, you should choose the Gazebo version. The default one is garden:

export GZ_VERSION=fortress
export GZ_VERSION=garden
export GZ_VERSION=harmonic

Then 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 iron
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/gz_ros2_control_ws
colcon build