ROS2 Distro | Build Status | Package build |
---|---|---|
This is a ROS 2 package for integrating the ros2_control
controller architecture with the Gazebo simulator.
More information about ros2_control
can be found here: https://control.ros.org/
This package provides a Gazebo-Sim 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 |
Iron | Edifice | iron | only from source | |
Iron | Fortress | iron | https://packages.ros.org | ros-iron-gz-ros2-control |
Iron | Garden | iron | only from source | |
Iron | Harmonic | iron | only from source | |
Jazzy | Harmonic | master | https://packages.ros.org | ros-jazzy-gz-ros2-control |
Rolling | Harmonic | master | https://packages.ros.org | ros-rolling-gz-ros2-control |
ROS 2 Distro | Branch | Build status | Documentation |
---|---|---|---|
Rolling | master |
Documentation API Reference |
|
Iron | iron |
Documentation API Reference |
|
Humble | humble |
Documentation API Reference |
See the documentation file or control.ros.org
Note that gz_ros2_control
depends on the version of Gazebo that is
provided by the Gazebo Vendor packages gz_plugin_vendor
and gz_sim_vendor
.
Currently, for ROS 2 Jazzy and Rolling, the Gazebo version is Harmonic.
To compile gz_ros2_control
from source, create a workspace, clone the repo and compile it:
mkdir -p ~/gz_ros2_control_ws/src
cd ~/gz_ros2_control_ws/src
git clone https://github.com/ros-controls/gz_ros2_control
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/gz_ros2_control_ws
colcon build