gz_ros2_control

4/5/25

Intro

8/3/25

📦 gz_ros2_control repo

This is a ROS 2 package for integrating the ros2_control controller architecture with the Gazebo simulator

• https://control.ros.org/humble/doc/gz_ros2_control/doc/index.html

ros2_control Humble and Garden fix

• Found solution to compile for Humble and Gazebo Garden via https://github.com/ros-controls/gz_ros2_control/pull/268

New branch and fix API breaking to allow Humble to work with Gazebo Garden #268

I created this PR to allow Humble to work with Gazebo Garden. I started to work with iron branch because it contains the porting from ignition to gazebo API. I discovered that the ros2_control repository has changed the API from Humble to Iron. Therefore, I updated the code with old version of ros2_control’s API.

Compile from source

• Install the rosdep rules to resolve Gazebo Garden libraries

sudo bash -c 'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
rosdep update
# check that resolve works
rosdep resolve gz-garden

• Compile gz_ros2_control from source

# cd into dev_ws/src
cd src
git clone https://github.com/federicociresola/gz_ros2_control.git -b humble-gz_garden
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

• Build the package from the root of the workspace (dev_ws)

cd ..
colcon build --symlink-install