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 Iron.

ros2_controllers

Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, MoveIt2 and Nav2.

Link to GitHub Repository

Guidelines and Best Practices

• Writing a new controller

Controllers for Mobile Robots

• Ackermann Steering Controller
• Bicycle Steering Controller
• Differential Drive Controller
• Steering Controllers Library
• Tricycle Controller
• Tricycle Steering Controller

Controllers for Manipulators and Other Robots

The controllers are using common hardware interface definitions, and may use namespaces depending on the following command interface types:

• position_controllers: hardware_interface::HW_IF_POSITION

• velocity_controller: hardware_interface::HW_IF_VELOCITY

• effort_controllers: hardware_interface::HW_IF_ACCELERATION

• effort_controllers: hardware_interface::HW_IF_EFFORT

• Admittance Controller
• Effort Controllers
• Forward Command Controller
• Gripper Controller
• Joint Trajectory Controller
  • Trajectory Representation
  • Trajectory Replacement
  • joint_trajectory_controller Parameters
  • rqt_joint_trajectory_controller
• Position Controllers
• Velocity Controllers

Broadcasters

Broadcasters are used to publish sensor data from hardware components to ROS topics. In the sense of ros2_control, broadcasters are still controllers using the same controller interface as the other controllers above.

• Force Torque Sensor Broadcaster
• IMU Sensor Broadcaster
• Joint State Broadcaster
• Range Sensor Broadcaster