├── .clang-format ├── .docker ├── README.md ├── release │ └── Dockerfile └── source │ └── Dockerfile ├── .github ├── dependabot.yml ├── mergify.yml └── workflows │ ├── docker.yml │ ├── humble-abi-compatibility.yml │ ├── humble-binary-build.yml │ ├── humble-check-docs.yml │ ├── humble-coverage-build.yml │ ├── humble-debian-build.yml │ ├── humble-pre-commit.yml │ ├── humble-pre-release.yml │ ├── humble-rhel-binary-build.yml │ ├── humble-semi-binary-build.yml │ ├── humble-semi-binary-downstream-build.yml │ ├── humble-source-build.yml │ ├── jazzy-abi-compatibility.yml │ ├── jazzy-binary-build.yml │ ├── jazzy-check-docs.yml │ ├── jazzy-coverage-build.yml │ ├── jazzy-debian-build.yml │ ├── jazzy-pre-commit.yml │ ├── jazzy-pre-release.yml │ ├── jazzy-rhel-binary-build.yml │ ├── jazzy-semi-binary-build.yml │ ├── jazzy-semi-binary-downstream-build.yml │ ├── jazzy-source-build.yml │ ├── kilted-abi-compatibility.yml │ ├── kilted-binary-build.yml │ ├── kilted-check-docs.yml │ ├── kilted-coverage-build.yml │ ├── kilted-debian-build.yml │ ├── kilted-pre-commit.yml │ ├── kilted-pre-release.yml │ ├── kilted-rhel-binary-build.yml │ ├── kilted-semi-binary-build.yml │ ├── kilted-semi-binary-downstream-build.yml │ ├── kilted-source-build.yml │ ├── reviewer_lottery.yml │ ├── rolling-abi-compatibility.yml │ ├── rolling-binary-build.yml │ ├── rolling-check-docs.yml │ ├── rolling-compatibility-humble-binary-build.yml │ ├── rolling-compatibility-jazzy-binary-build.yml │ ├── rolling-compatibility-kilted-binary-build.yml │ ├── rolling-coverage-build.yml │ ├── rolling-debian-build.yml │ ├── rolling-pre-commit.yml │ ├── rolling-pre-release.yml │ ├── rolling-rhel-binary-build.yml │ ├── rolling-semi-binary-build-win.yml │ ├── rolling-semi-binary-build.yml │ ├── rolling-semi-binary-downstream-build.yml │ ├── rolling-source-build.yml │ ├── rosdoc2.yml │ ├── stale.yml │ └── update-pre-commit.yml ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── codecov.yml ├── controller_interface ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ ├── controller_interface │ │ ├── chainable_controller_interface.hpp │ │ ├── controller_interface.hpp │ │ ├── controller_interface_base.hpp │ │ ├── controller_interface_params.hpp │ │ ├── helpers.hpp │ │ └── tf_prefix.hpp │ └── semantic_components │ │ ├── force_torque_sensor.hpp │ │ ├── gps_sensor.hpp │ │ ├── imu_sensor.hpp │ │ ├── led_rgb_device.hpp │ │ ├── magnetic_field_sensor.hpp │ │ ├── pose_sensor.hpp │ │ ├── range_sensor.hpp │ │ ├── semantic_component_command_interface.hpp │ │ └── semantic_component_interface.hpp ├── package.xml ├── src │ ├── chainable_controller_interface.cpp │ ├── controller_interface.cpp │ └── controller_interface_base.cpp └── test │ ├── test_chainable_controller_interface.cpp │ ├── test_chainable_controller_interface.hpp │ ├── test_controller_interface.cpp │ ├── test_controller_interface.hpp │ ├── test_controller_node_options.yaml │ ├── test_controller_tf_prefix.cpp │ ├── test_controller_tf_prefix.hpp │ ├── test_controller_with_options.cpp │ ├── test_controller_with_options.hpp │ ├── test_force_torque_sensor.cpp │ ├── test_force_torque_sensor.hpp │ ├── test_gps_sensor.cpp │ ├── test_imu_sensor.cpp │ ├── test_imu_sensor.hpp │ ├── test_led_rgb_device.cpp │ ├── test_led_rgb_device.hpp │ ├── test_magnetic_field_sensor.cpp │ ├── test_magnetic_field_sensor.hpp │ ├── test_pose_sensor.cpp │ ├── test_pose_sensor.hpp │ ├── test_semantic_component_command_interface.cpp │ ├── test_semantic_component_command_interface.hpp │ ├── test_semantic_component_interface.cpp │ └── test_semantic_component_interface.hpp ├── controller_manager ├── CHANGELOG.rst ├── CMakeLists.txt ├── controller_manager │ ├── __init__.py │ ├── controller_manager_services.py │ ├── hardware_spawner.py │ ├── launch_utils.py │ ├── spawner.py │ ├── test_utils.py │ └── unspawner.py ├── doc │ ├── controller_chaining.rst │ ├── images │ │ ├── chaining_example2.png │ │ ├── global_general_remap.png │ │ ├── global_specific_remap.png │ │ └── rqt_controller_manager.png │ ├── parameters_context.yaml │ └── userdoc.rst ├── include │ └── controller_manager │ │ ├── controller_manager.hpp │ │ └── controller_spec.hpp ├── package.xml ├── setup.cfg ├── src │ ├── controller_manager.cpp │ ├── controller_manager_parameters.yaml │ └── ros2_control_node.cpp └── test │ ├── controller_manager_test_common.hpp │ ├── test_chainable_controller │ ├── test_chainable_controller.cpp │ ├── test_chainable_controller.hpp │ └── test_chainable_controller.xml │ ├── test_controller │ ├── test_controller.cpp │ ├── test_controller.hpp │ └── test_controller.xml │ ├── test_controller_failed_activate │ ├── test_controller_failed_activate.cpp │ ├── test_controller_failed_activate.hpp │ └── test_controller_failed_activate.xml │ ├── test_controller_failed_init │ ├── test_controller_failed_init.cpp │ ├── test_controller_failed_init.hpp │ └── test_controller_failed_init.xml │ ├── test_controller_manager.cpp │ ├── test_controller_manager_hardware_error_handling.cpp │ ├── test_controller_manager_srvs.cpp │ ├── test_controller_manager_urdf_passing.cpp │ ├── test_controller_manager_with_namespace.cpp │ ├── test_controller_overriding_parameters.yaml │ ├── test_controller_spawner_wildcard_entries.yaml │ ├── test_controller_spawner_wildcard_entries_global.yaml │ ├── test_controller_spawner_with_fallback_controllers.yaml │ ├── test_controller_spawner_with_interfaces.yaml │ ├── test_controller_spawner_with_type.yaml │ ├── test_controller_with_interfaces │ ├── test_controller_with_interfaces.cpp │ ├── test_controller_with_interfaces.hpp │ └── test_controller_with_interfaces.xml │ ├── test_controllers_chaining_with_controller_manager.cpp │ ├── test_hardware_management_srvs.cpp │ ├── test_hardware_spawner.cpp │ ├── test_load_controller.cpp │ ├── test_release_interfaces.cpp │ ├── test_ros2_control_node.yaml │ ├── test_ros2_control_node_launch.py │ ├── test_spawner_unspawner.cpp │ └── test_test_utils.py ├── controller_manager_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── ChainConnection.msg │ ├── ControllerManagerActivity.msg │ ├── ControllerState.msg │ ├── HardwareComponentState.msg │ ├── HardwareInterface.msg │ └── NamedLifecycleState.msg ├── package.xml └── srv │ ├── ConfigureController.srv │ ├── ListControllerTypes.srv │ ├── ListControllers.srv │ ├── ListHardwareComponents.srv │ ├── ListHardwareInterfaces.srv │ ├── LoadController.srv │ ├── ReloadControllerLibraries.srv │ ├── SetHardwareComponentState.srv │ ├── SwitchController.srv │ └── UnloadController.srv ├── doc ├── debugging.rst ├── images │ ├── plotjuggler.png │ ├── plotjuggler_select_topics.png │ └── plotjuggler_visualizing_data.png ├── index.rst ├── introspection.rst ├── migration.rst └── release_notes.rst ├── hardware_interface ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── doc │ ├── asynchronous_components.rst │ ├── different_update_rates_userdoc.rst │ ├── hardware_components_userdoc.rst │ ├── hardware_interface_types_userdoc.rst │ ├── joints_userdoc.rst │ ├── mock_components_userdoc.rst │ ├── semantic_components.rst │ └── writing_new_hardware_component.rst ├── include │ ├── hardware_interface │ │ ├── actuator.hpp │ │ ├── actuator_interface.hpp │ │ ├── component_parser.hpp │ │ ├── controller_info.hpp │ │ ├── handle.hpp │ │ ├── hardware_component.hpp │ │ ├── hardware_component_info.hpp │ │ ├── hardware_component_interface.hpp │ │ ├── hardware_info.hpp │ │ ├── helpers.hpp │ │ ├── introspection.hpp │ │ ├── lexical_casts.hpp │ │ ├── lifecycle_helpers.hpp │ │ ├── loaned_command_interface.hpp │ │ ├── loaned_state_interface.hpp │ │ ├── macros.hpp │ │ ├── resource_manager.hpp │ │ ├── sensor.hpp │ │ ├── sensor_interface.hpp │ │ ├── system.hpp │ │ ├── system_interface.hpp │ │ └── types │ │ │ ├── hardware_component_interface_params.hpp │ │ │ ├── hardware_component_params.hpp │ │ │ ├── hardware_interface_return_values.hpp │ │ │ ├── hardware_interface_type_values.hpp │ │ │ ├── lifecycle_state_names.hpp │ │ │ ├── resource_manager_params.hpp │ │ │ ├── statistics_types.hpp │ │ │ └── trigger_type.hpp │ └── mock_components │ │ └── generic_system.hpp ├── mock_components_plugin_description.xml ├── package.xml ├── src │ ├── component_parser.cpp │ ├── hardware_component.cpp │ ├── lexical_casts.cpp │ ├── mock_components │ │ └── generic_system.cpp │ └── resource_manager.cpp └── test │ ├── mock_components │ └── test_generic_system.cpp │ ├── test_component_interfaces.cpp │ ├── test_component_interfaces_custom_export.cpp │ ├── test_component_parser.cpp │ ├── test_components.hpp │ ├── test_handle.cpp │ ├── test_hardware_components │ ├── test_force_torque_sensor.cpp │ ├── test_hardware_components.xml │ ├── test_imu_sensor.cpp │ ├── test_single_joint_actuator.cpp │ ├── test_system_with_command_modes.cpp │ └── test_two_joint_system.cpp │ ├── test_helpers.cpp │ ├── test_inst_hardwares.cpp │ ├── test_lexical_casts.cpp │ └── test_macros.cpp ├── hardware_interface_testing ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── package.xml └── test │ ├── test_components │ ├── test_actuator.cpp │ ├── test_actuator_exclusive_interfaces.cpp │ ├── test_components.xml │ ├── test_sensor.cpp │ └── test_system.cpp │ ├── test_resource_manager.cpp │ ├── test_resource_manager.hpp │ └── test_resource_manager_prepare_perform_switch.cpp ├── joint_limits ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── joint_limits │ │ ├── data_structures.hpp │ │ ├── joint_limiter_interface.hpp │ │ ├── joint_limits.hpp │ │ ├── joint_limits_helpers.hpp │ │ ├── joint_limits_rosparam.hpp │ │ ├── joint_limits_urdf.hpp │ │ ├── joint_saturation_limiter.hpp │ │ └── joint_soft_limiter.hpp ├── joint_limiters.xml ├── package.xml ├── src │ ├── joint_limiter_interface.cpp │ ├── joint_limits_helpers.cpp │ ├── joint_range_limiter.cpp │ ├── joint_saturation_limiter.cpp │ └── joint_soft_limiter.cpp └── test │ ├── joint_limits_rosparam.launch.py │ ├── joint_limits_rosparam.yaml │ ├── joint_limits_rosparam_test.cpp │ ├── joint_limits_urdf_test.cpp │ ├── joint_saturation_limiter_param.yaml │ ├── test_joint_limiter.hpp │ ├── test_joint_range_limiter.cpp │ ├── test_joint_saturation_limiter.cpp │ ├── test_joint_saturation_limiter.hpp │ └── test_joint_soft_limiter.cpp ├── ros2_control-not-released.humble.repos ├── ros2_control-not-released.jazzy.repos ├── ros2_control-not-released.kilted.repos ├── ros2_control-not-released.rolling.repos ├── ros2_control.humble.repos ├── ros2_control.jazzy.repos ├── ros2_control.kilted.repos ├── ros2_control.rolling.repos ├── ros2_control ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── conf.py │ └── index.rst ├── package.xml └── rosdoc2.yaml ├── ros2_control_test_assets ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── ros2_control_test_assets │ │ ├── components_urdfs.hpp │ │ ├── descriptions.hpp │ │ └── test_hardware_interface_constants.hpp ├── package.xml └── urdf │ └── test_hardware_components.urdf ├── ros2controlcli ├── CHANGELOG.rst ├── README.rst ├── doc │ └── userdoc.rst ├── package.xml ├── resource │ └── ros2controlcli ├── ros2controlcli │ ├── __init__.py │ ├── api │ │ └── __init__.py │ ├── command │ │ ├── __init__.py │ │ └── control.py │ └── verb │ │ ├── __init__.py │ │ ├── list_controller_types.py │ │ ├── list_controllers.py │ │ ├── list_hardware_components.py │ │ ├── list_hardware_interfaces.py │ │ ├── load_controller.py │ │ ├── reload_controller_libraries.py │ │ ├── set_controller_state.py │ │ ├── set_hardware_component_state.py │ │ ├── switch_controllers.py │ │ ├── unload_controller.py │ │ ├── view_controller_chains.py │ │ └── view_hardware_status.py ├── setup.py └── test │ └── test_view_controller_chains.py ├── ros_controls.humble.repos ├── ros_controls.jazzy.repos ├── ros_controls.kilted.repos ├── ros_controls.rolling.repos ├── rqt_controller_manager ├── CHANGELOG.rst ├── package.xml ├── plugin.xml ├── resource │ ├── cm_icon.png │ ├── controller_manager.ui │ ├── led_cyan.png │ ├── led_green.png │ ├── led_off.png │ ├── led_yellow.png │ ├── popup_info.ui │ └── rqt_controller_manager ├── rqt_controller_manager │ ├── __init__.py │ ├── controller_manager.py │ ├── main.py │ └── update_combo.py ├── setup.cfg └── setup.py └── transmission_interface ├── CHANGELOG.rst ├── CMakeLists.txt ├── Doxyfile ├── doc ├── conf.py └── index.rst ├── images ├── differential_transmission.png ├── differential_transmission.svg ├── four_bar_linkage_transmission.png ├── four_bar_linkage_transmission.svg ├── simple_transmission.png ├── simple_transmission.svg ├── simple_transmission_gears.png └── simple_transmission_timing_belt.png ├── include └── transmission_interface │ ├── accessor.hpp │ ├── differential_transmission.hpp │ ├── differential_transmission_loader.hpp │ ├── exception.hpp │ ├── four_bar_linkage_transmission.hpp │ ├── four_bar_linkage_transmission_loader.hpp │ ├── handle.hpp │ ├── simple_transmission.hpp │ ├── simple_transmission_loader.hpp │ ├── transmission.hpp │ ├── 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