Note: ros2_control Architecture¶
You are probably here because the robot needs a cleaner control stack and you are deciding whether ros2_control should be the architectural backbone or just another package on the side.
Likely First Answer¶
Start with ros2_control Design Patterns in Jazzy.
If the Real Problem Is...¶
- a concrete diff-drive implementation: Diff-Drive Base Control with ros2_control and Arduino
- generic driver boundaries: Hardware Abstraction Layers in ROS 2
- actuator-facing interface choices: Motor Controller Interfaces
- simulator-backed bringup: Gazebo Sim Setup for ROS 2