/gz_ros2_control

Connect the latest version of Gazebo with ros2_control.

Primary LanguageC++Apache License 2.0Apache-2.0

gz_ros2_control (iron) - 1.1.1-1

The packages in the gz_ros2_control repository were released into the iron distro by running /usr/bin/bloom-release --rosdistro iron --track iron gz_ros2_control -e on Mon, 17 Jul 2023 08:50:12 -0000

These packages were released:

  • gz_ros2_control
  • gz_ros2_control_demos
  • gz_ros2_control_tests

Version of package(s) in repository gz_ros2_control:

Versions of tools used:

  • bloom version: 0.11.2
  • catkin_pkg version: 0.5.2
  • rosdep version: 0.22.2
  • rosdistro version: 0.9.0
  • vcstools version: 0.1.42

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 ros2 https://packages.ros.org
Rolling Edifice ros2 only from source
Rolling Fortress ros2 https://packages.ros.org
Rolling Garden (not released) ros2 only from source

Build status

ROS 2 Distro Branch Build status Documentation
Rolling master Gazebo ros2 control CI Documentation
API Reference
Iron master Gazebo ros2 control CI Documentation
API Reference
Humble humble Gazebo ros2 control CI 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

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