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The ros2_control framework uses namespaces to sort controller according to the type of command interface they are using. The controllers are using common hardware interface definitions. The controllers’ namespaces are commanding 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

Guidelines and Best Practices

Available Controllers

Available Broadcasters