ros2 control tutorials

Using Gazebo to simulate type of control on one joint simple robot.
Show yaml control configuration and ros2_control tag for each type.

The ros2_control declare what the robot can do, and expose it as command and state
The Controller YAML declare which controller to load and use by the controller_manager The controller expose ROS messages to command and get states

position controller

velocity controller

Effort Control

imu broadcaster

• ros2_control guide
• ROS2 Jazzy Tutorial: ros2_control in Gazebo - Control Simulation from Scratch in Gazebo!