gz_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.

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 have to choose the Gazebo version first. The default one is fortress, and you simply can compile it with

mkdir -p ~/gz_ros2_control_ws/src
cd ~/gz_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 ~/gz_ros2_control_ws
colcon build

If you want to use harmonic, then follow the instructions in the official Gazebo Harmonic documentation how to install Gazebo Harmonic on ROS 2 humble.

Then create a workspace, clone the correct branch of this repo and compile it by setting the environment variable GZ_VERSION:

mkdir -p ~/gz_ros2_control_ws/src
cd ~/gz_ros2_control_ws/src
git clone https://github.com/gazebosim/ros_gz/ -b humble # only needed for harmonic
git clone https://github.com/ros-controls/gz_ros2_control -b humble
export GZ_VERSION=harmonic
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/gz_ros2_control_ws
colcon build