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
  • Asynchronous Execution
  • Semantic Components
• Mock Components

Guidelines and Best Practices

• Debugging the Controller Manager and Plugins
• Introspection of the ros2_control setup
• Data Visualization