This is the API documentation of the ros2_control framework including the following Github repositories:

• ros2_control - the main interfaces and components of the framework;
• ros2_controllers - widely used controllers, such as forward command controller, joint trajectory controller, differential drive controller;
• ros2_control_demos - example implementations of common use-cases for a smooth start;
• control_toolbox - some widely-used control theory implementations (e.g. PID) used by controllers;
• realtime_tools - general toolkit for realtime support, e.g., realtime buffers and publishers;
• control_msgs - common messages.
• kinematics_interface - for using C++ kinematics frameworks.

For user documentation, see the ros2_control documentation.