Understanding the ros2_control framework
In a typical robotic application, once the desired motion—such as actuator position or wheel speed—is determined, the command must be sent to the robot’s hardware or its simulation. ROS 2 provides the ros2_control framework, a collection of packages for low-level robot control. Evolved from ros_control in ROS 1.x, ros2_control separates hardware-specific code from control logic, enabling controller reuse across different hardware with minimal changes. It offers user-friendly interfaces for interacting with sensors and actuators and tools for efficient component management. This framework simplifies hardware integration and control algorithm development, reducing the complexity of robot control system maintenance. Another important advance of the ros2_control framework is the possibility of defining a chain of controllers. In this way, controllers can be composed properly by linking their input and output.
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