https://github.com/ros-controls/ros2_control

Generic and simple controls framework for ROS 2
https://github.com/ros-controls/ros2_control

control control-systems controllers robot-control robotics ros ros2 ros2-control ros2-humble ros2-jazzy ros2-rolling

Last synced: about 1 month ago
JSON representation

Generic and simple controls framework for ROS 2

• Host: GitHub
• URL: https://github.com/ros-controls/ros2_control
• Owner: ros-controls
• License: apache-2.0
• Created: 2017-09-09T17:11:58.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2025-05-04T19:11:02.000Z (about 2 months ago)
• Last Synced: 2025-05-04T20:19:54.172Z (about 2 months ago)
• Topics: control, control-systems, controllers, robot-control, robotics, ros, ros2, ros2-control, ros2-humble, ros2-jazzy, ros2-rolling
• Language: C++
• Homepage: https://control.ros.org
• Size: 7.97 MB
• Stars: 606
• Watchers: 26
• Forks: 337
• Open Issues: 188
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# ros2_control

[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)

[![codecov](https://codecov.io/gh/ros-controls/ros2_control/graph/badge.svg?token=idvm1zJXOf)](https://codecov.io/gh/ros-controls/ros2_control)

This package is a part of the ros2_control framework.

For more, please check the [documentation](https://control.ros.org/).

## Contributing

As an open-source project, we welcome each contributor, regardless of their background and experience. Pick a [PR](https://github.com/ros-controls/ros2_control/pulls) and review it, or [create your own](https://github.com/ros-controls/ros2_control/contribute)!

If you are new to the project, please read the [contributing guide](https://control.ros.org/rolling/doc/contributing/contributing.html) for more information on how to get started. We are happy to help you with your first contribution.

## Build status

ROS2 Distro | Branch | Build status | Documentation | Released packages

:---------: | :----: | :----------: | :-----------: | :---------------:

**Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master) 
 [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master) 
 [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Rdev__ros2_control__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Rdev__ros2_control__ubuntu_noble_amd64/) | [Documentation](https://control.ros.org/master/index.html) 
 [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)

**Jazzy** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml?branch=master) 
 [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml?branch=master) 
 [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Jdev__ros2_control__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Jdev__ros2_control__ubuntu_noble_amd64/) | [Documentation](https://control.ros.org/jazzy/index.html) 
 [API Reference](https://control.ros.org/jazzy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#jazzy)

**Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml?branch=master) 
 [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml?branch=master) 
 [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Hdev__ros2_control__ubuntu_jammy_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Hdev__ros2_control__ubuntu_jammy_amd64/) | [Documentation](https://control.ros.org/humble/index.html) 
 [API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)

## Docker images

There are a few published docker images that come with the latest releases. More information about them can be found in the `.docker` folder. You can pull them under these tags: `ghcr.io/ros-controls/ros2_control_release` or `ghcr.io/ros-controls/ros2_control_source`.

## Acknowledgements

The project has received major contributions from companies and institutions [listed on control.ros.org](https://control.ros.org/rolling/doc/acknowledgements/acknowledgements.html)