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ros-controls

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About

ros2_control is a framework for (real-time) control of robots using (ROS 2). It acts as the kernel for your ROS 2 robotics system and has what you need for all your real-time control needs. Even better, it's all open source. Full project details on control.ros.org

ros2_control packages are a rewrite of ros_control packages used in ROS (Robot Operating System).

Getting Started

Looking to get started with ros2_control? Our installation guide is here. Once you've installed ros2_control start by learning about our architecture and take a look at our demos.

Learn about joining the ros2_control Community

Community Resources

Developer Resources

ros2_control is made possible through the generous support of open source contributors and the non-profit Open Source Robotics Foundation (OSRF). Tax deductible donations to the OSRF can be made here.

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  1. ros2_control ros2_control Public

    Generic and simple controls framework for ROS 2

    C++ 687 364

  2. ros2_controllers ros2_controllers Public

    Generic robotic controllers to accompany ros2_control

    C++ 532 397

  3. ros2_control_demos ros2_control_demos Public

    This repository aims at providing examples to illustrate ros2_control and ros2_controllers

    Python 615 241

Repositories

Showing 10 of 31 repositories
  • ros-controls/roscon2025_control_workshop’s past year of commit activity
    C 4 3 0 0 Updated Sep 3, 2025
  • gz_ros2_control Public

    Connect the latest version of Gazebo with ros2_control.

    ros-controls/gz_ros2_control’s past year of commit activity
    C++ 185 Apache-2.0 122 34 (2 issues need help) 9 Updated Sep 3, 2025
  • ros2_control Public

    Generic and simple controls framework for ROS 2

    ros-controls/ros2_control’s past year of commit activity
    C++ 687 Apache-2.0 364 82 (10 issues need help) 33 Updated Sep 3, 2025
  • ros2_controllers Public

    Generic robotic controllers to accompany ros2_control

    ros-controls/ros2_controllers’s past year of commit activity
    C++ 532 Apache-2.0 397 79 (15 issues need help) 28 Updated Sep 4, 2025
  • ros2_control_ci Public

    This repository holds reusable workflows for CI of the ros2_control framework.

    ros-controls/ros2_control_ci’s past year of commit activity
    Dockerfile 7 Apache-2.0 5 12 (3 issues need help) 3 Updated Sep 4, 2025
  • control_toolbox Public

    This package contains several C++ classes useful in writing controllers.

    ros-controls/control_toolbox’s past year of commit activity
    C++ 156 Apache-2.0 111 8 (3 issues need help) 2 Updated Sep 3, 2025
  • ros-controls/kinematics_interface’s past year of commit activity
    C++ 32 Apache-2.0 18 2 0 Updated Sep 3, 2025
  • realtime_tools Public

    Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.

    ros-controls/realtime_tools’s past year of commit activity
    C++ 164 BSD-3-Clause 84 4 4 Updated Sep 3, 2025
  • control_msgs Public

    contains base messages and actions useful for controlling robots

    ros-controls/control_msgs’s past year of commit activity
    CMake 67 BSD-3-Clause 74 1 1 Updated Sep 3, 2025
  • ros-controls/control.ros.org’s past year of commit activity
    Python 19 Apache-2.0 50 4 3 Updated Sep 3, 2025