| 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 |
|---|---|---|---|
| Foxy | Citadel | foxy | https://packages.ros.org |
| Foxy | Edifice | foxy | only from source |
| Galactic | Edifice | galactic | https://packages.ros.org |
| Galactic | Fortress | galactic | only from source |
| Humble | Fortress | humble | https://packages.ros.org |
| Iron | Edifice | iron | only from source |
| Iron | Fortress | iron | https://packages.ros.org |
| Iron | Garden (not released) | iron | only from source |
| Iron | Harmonic (not released) | iron | only from source |
| Rolling | Edifice | master | only from source |
| Rolling | Fortress | master | https://packages.ros.org |
| Rolling | Garden (not released) | master | only from source |
| Rolling | Harmonic (not released) | master | only from source |
| 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
If you want compile this from source, you should choose the Gazebo version. The default one is garden:
export GZ_VERSION=fortress
export GZ_VERSION=garden
export GZ_VERSION=harmonicThen 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