============
ros2_control
============
ros2_control is a framework for (real-time) control of robots using ROS2

* `ros2_control Documentation <https://control.ros.org/rolling/index.html>`_
* `ros2_control concept explained for beginners <https://masum919.github.io/ros2_control_explained/>`_
* `Command Line Interface <https://control.ros.org/rolling/doc/ros2_control/ros2controlcli/doc/userdoc.html>`_
* `GitHub <https://github.com/ros-controls/ros2_control>`_

ros2_controllers
================
Commonly used and generalized controllers for ros2-control framework that are ready to use 
with many robots, MoveIt2 and Nav2 (e.g joint_trajectory_controller, diff_drive_controller, etc.)

* `Documentation <https://control.ros.org/rolling/doc/ros2_controllers/doc/controllers_index.html>`_
* `GitHub <https://github.com/ros-controls/ros2_controllers>`_

gz_ros2_control
===============
a ROS 2 package for integrating the ros2_control controller architecture with the Gazebo simulator.

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

* `Documentation <https://control.ros.org/rolling/doc/gz_ros2_control/doc/index.html>`_
* `GitHub <https://github.com/ros-controls/gz_ros2_control>`_


Useful Resources
================

* `example of a custom hardware interface (Arduino) <https://github.com/masum919/ros2_control_custom_hardware_interface>`_