You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Jazzy.

Migration Guides

Coming from ros_control (ROS 1)

• Differences to ros_control (ROS 1)
• Migration Guide to ros2_control

Between different ROS 2 distributions

This list summarizes necessary changes to your code for a version update to iron. If you are skipping a distribution update, make sure to read the migration guides of all intermediate distributions.

For non-breaking updates, see the Release Notes.

• ros2_control
• ros2_controllers