| 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 |
| ROS 2 Distro | Branch | Build status | Documentation |
|---|---|---|---|
| Rolling | rolling |
 |
Documentation API Reference |
| Jazzy | jazzy |
 |
Documentation API Reference |
| Humble | humble |
 |
Documentation API Reference |
See the documentation file or control.ros.org
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=fortressThen 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