# ros2_control

[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
[![codecov](https://codecov.io/gh/ros-controls/ros2_control/graph/badge.svg?token=idvm1zJXOf)](https://codecov.io/gh/ros-controls/ros2_control)

This package is a part of the ros2_control framework.
For more, please check the [documentation](https://control.ros.org/).

## Contributing

As an open-source project, we welcome each contributor, regardless of their background and experience. Pick a [PR](https://github.com/ros-controls/ros2_control/pulls) and review it, or [create your own](https://github.com/ros-controls/ros2_control/contribute)!
If you are new to the project, please read the [contributing guide](https://control.ros.org/rolling/doc/contributing/contributing.html) for more information on how to get started. We are happy to help you with your first contribution.

## Build status

ROS2 Distro | Branch | Build status | Documentation | Package Build
:---------: | :----: | :----------: | :-----------: | :---------------:
**Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master) <br> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Rdev__ros2_control__ubuntu_resolute_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Rdev__ros2_control__ubuntu_resolute_amd64/) | [Documentation](https://control.ros.org/master/index.html) <br> [API Reference](https://control.ros.org/master/doc/api/index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uR64__ros2_control__ubuntu_resolute_amd64__binary)](https://build.ros2.org/job/Rbin_uR64__ros2_control__ubuntu_resolute_amd64__binary/)
**Lyrical** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | See above <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Ldev__ros2_control__ubuntu_resolute_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Ldev__ros2_control__ubuntu_resolute_amd64/) | [Documentation](https://control.ros.org/master/index.html) <br> [API Reference](https://control.ros.org/master/doc/api/index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Lbin_uR64__ros2_control__ubuntu_resolute_amd64__binary)](https://build.ros2.org/job/Rbin_uR64__ros2_control__ubuntu_resolute_amd64__binary/)
**Kilted** | [`kilted`](https://github.com/ros-controls/ros2_control/tree/kilted) | [![Kilted Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/kilted-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/kilted-binary-build.yml?branch=master) <br> [![Kilted Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/kilted-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/kilted-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Kdev__ros2_control__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Kdev__ros2_control__ubuntu_noble_amd64/) | [Documentation](https://control.ros.org/kilted/index.html) <br> [API Reference](https://control.ros.org/kilted/doc/api/index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_uN64__ros2_control__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Kbin_uN64__ros2_control__ubuntu_noble_amd64__binary/)
**Jazzy** | [`jazzy`](https://github.com/ros-controls/ros2_control/tree/jazzy) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml?branch=master) <br> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Jdev__ros2_control__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Jdev__ros2_control__ubuntu_noble_amd64/) | [Documentation](https://control.ros.org/jazzy/index.html) <br> [API Reference](https://control.ros.org/jazzy/doc/api/index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__ros2_control__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__ros2_control__ubuntu_noble_amd64__binary/)
**Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml?branch=master) <br> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Hdev__ros2_control__ubuntu_jammy_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Hdev__ros2_control__ubuntu_jammy_amd64/) | [Documentation](https://control.ros.org/humble/index.html) <br> [API Reference](https://control.ros.org/humble/doc/api/index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__ros2_control__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__ros2_control__ubuntu_jammy_amd64__binary/)

## Docker images

There are a few published docker images that come with the latest releases. More information about them can be found in the `.docker` folder. You can pull them under these tags: `ghcr.io/ros-controls/ros2_control_release` or `ghcr.io/ros-controls/ros2_control_source`.

## Acknowledgements

The project has received major contributions from companies and institutions [listed on control.ros.org](https://control.ros.org/rolling/doc/acknowledgements/acknowledgements.html)