ign_ros2_control

ROS2 Distro	Build Status	Package build

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

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

ROS version	Gazebo version	Branch	Binaries hosted at	APT key
Humble	Fortress	humble	https://packages.ros.org	ros-humble-ign-ros2-control
Jazzy	Harmonic	jazzy	https://packages.ros.org	ros-jazzy-gz-ros2-control
Rolling	Harmonic	rolling	https://packages.ros.org	ros-rolling-gz-ros2-control

Build status

ROS 2 Distro	Branch	Build status	Documentation
Rolling	rolling		Documentation API Reference
Jazzy	jazzy		Documentation API Reference
Humble	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 Ignition version. The default one is citadel:

export IGNITION_VERSION=citadel
export IGNITION_VERSION=edifice
export IGNITION_VERSION=fortress

Then create a workspace, clone the correct branch of this repo and compile it:

mkdir -p ~/ign_ros2_control_ws/src
cd ~/ign_ros2_control_ws/src
git clone https://github.com/ros-controls/gz_ros2_control -b humble
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/ign_ros2_control_ws
colcon build