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
Foxy	Citadel	foxy	https://packages.ros.org
Foxy	Edifice	foxy	only from source
Galactic	Edifice	galactic	https://packages.ros.org
Galactic	Fortress	galactic	only from source
Humble	Fortress	humble	https://packages.ros.org
Iron	Edifice	iron	only from source
Iron	Fortress	iron	https://packages.ros.org
Iron	Garden (not released)	iron	only from source
Iron	Harmonic (not released)	iron	only from source
Rolling	Edifice	master	only from source
Rolling	Fortress	master	https://packages.ros.org
Rolling	Garden (not released)	master	only from source
Rolling	Harmonic (not released)	master	only from source

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