/gz_ros2_control

Connect the latest version of Gazebo with ros2_control.

Primary LanguageC++Apache License 2.0Apache-2.0

gz_ros2_control

ROS2 Distro Build Status Package build
Licence Build Status Build Status

This is a ROS 2 package for integrating the ros2_control controller architecture with the Gazebo simulator. More information about ros2_control can be found here: https://control.ros.org/

This package provides a Gazebo-Sim system plugin which instantiates a ros2_control controller manager and connects it to a Gazebo model.

ROS version Gazebo version Branch Binaries hosted at
Foxy Citadel foxy https://packages.ros.org
Foxy Edifice foxy only from source
Galactic Edifice galactic https://packages.ros.org
Galactic Fortress galactic only from source
Humble Fortress humble https://packages.ros.org
Iron Edifice iron only from source
Iron Fortress iron https://packages.ros.org
Iron Garden (not released) iron only from source
Iron Harmonic (not released) iron only from source
Rolling Edifice master only from source
Rolling Fortress master https://packages.ros.org
Rolling Garden (not released) master only from source
Rolling Harmonic (not released) master only from source

Build status

ROS 2 Distro Branch Build status Documentation
Rolling master gazebo_ros2_control CI - Rolling Documentation
API Reference
Iron iron gazebo_ros2_control CI - Iron Documentation
API Reference
Humble humble ign_ros2_control CI - Humble Documentation
API Reference

Documentation

See the documentation file or control.ros.org

Compile from source

If you want compile this from source, you should choose the Gazebo version. The default one is garden:

export GZ_VERSION=fortress
export GZ_VERSION=garden
export GZ_VERSION=harmonic

Then create a workspace, clone the repo and compile it:

mkdir -p ~/gz_ros2_control_ws/src
cd ~/gz_ros2_control_ws/src
git clone https://github.com/ros-controls/gz_ros2_control
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/gz_ros2_control_ws
colcon build