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https://github.com/ros-controls/ros2_controllers

Generic robotic controllers to accompany ros2_control
https://github.com/ros-controls/ros2_controllers

ros ros2 ros2-control ros2-controllers ros2-foxy ros2-galactic ros2-humble ros2-rolling

Last synced: 25 days ago
JSON representation

Generic robotic controllers to accompany ros2_control

Host: GitHub
URL: https://github.com/ros-controls/ros2_controllers
Owner: ros-controls
License: apache-2.0
Created: 2017-09-09T17:12:12.000Z (over 7 years ago)
Default Branch: master
Last Pushed: 2024-10-29T21:26:52.000Z (about 1 month ago)
Last Synced: 2024-10-29T23:44:53.268Z (about 1 month ago)
Topics: ros, ros2, ros2-control, ros2-controllers, ros2-foxy, ros2-galactic, ros2-humble, ros2-rolling
Language: C++
Homepage: https://control.ros.org
Size: 5.57 MB
Stars: 369
Watchers: 24
Forks: 324
Open Issues: 176
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # ros2_controllers

[![Licence](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_controllers/graph/badge.svg?token=KSdY0tsHm6)](https://codecov.io/gh/ros-controls/ros2_controllers)

Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Nav2.

## Build status

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

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

**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) 
 [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)

**Jazzy** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master) 
 [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#jazzy)

**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml?branch=master) 
 [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/iron/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron)

**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) 
 [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)

### Explanation of different build types

**NOTE**: There are three build stages checking current and future compatibility of the package.

1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.

   Uses repos file: `src/$NAME$/$NAME$-not-released..repos`

1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.

   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.

   Uses repos file: `src/$NAME$/$NAME$.repos`

## Acknowledgements



  



Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.

More information: rosin-project.eu



This project has received funding from the European Union’s Horizon 2020

research and innovation programme under grant agreement no. 732287.