ros2_control

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

• ros2_control Documentation

• ros2_control concept explained for beginners

• Command Line Interface

• GitHub

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

• GitHub

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

• GitHub

Useful Resources

• example of a custom hardware interface (Arduino)