You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Jazzy.

ros2_control

This is the documentation of the ros2_control framework core.

GitHub Repository

API Documentation

API documentation is parsed by doxygen and can be found here

Concepts

• Controller Manager
• Controller Chaining / Cascade Control
• Joint Kinematics
• Hardware Components
  • Hardware Interface Types
  • Writing a Hardware Component
  • Different Update Rates
• Mock Components

Guidelines and Best Practices

• Debugging the Controller Manager and Plugins