# ros-controls

**URL:** https://discourse.openrobotics.org/c/ros-controls/106.md

[Latest](https://discourse.openrobotics.org/latest.md) · [Categories](https://discourse.openrobotics.org/categories.md) · [Tags](https://discourse.openrobotics.org/tags.md)

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## [About the ros-controls category](https://discourse.openrobotics.org/t/about-the-ros-controls-category/44262)

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**Author:** [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Replies:** 0\
**Last updated:** [June 13, 2025, 2:50am UTC](https://discourse.openrobotics.org/t/about-the-ros-controls-category/44262 "2025-06-13T02:50:07Z")

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This category is for the OSRA’s ros-controls project. For more information about this project, please see its website and its Charter. For announcements and news about ros-controls, go to the ros-controls Announcements …

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## [\[RFC\] Consolidating and Modernizing Integration Test Architecture for gz\_ros2\_control](https://discourse.openrobotics.org/t/rfc-consolidating-and-modernizing-integration-test-architecture-for-gz-ros2-control/58883)

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**Author:** [@Vanjoseluis](https://discourse.openrobotics.org/u/Vanjoseluis)\
**Replies:** 0\
**Last updated:** [October 15, 2026, 4:10pm UTC](https://discourse.openrobotics.org/t/rfc-consolidating-and-modernizing-integration-test-architecture-for-gz-ros2-control/58883 "2026-10-15T16:10:35Z")

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Hi everyone, Over time, the integration test suite in gz\_ros2\_control has grown incrementally as new controllers, demos, and interfaces were introduced. While these tests prevent regressions, the lack of a explicit test…

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## [Resolving package paths in controller \`params\_file\`?](https://discourse.openrobotics.org/t/resolving-package-paths-in-controller-params-file/55009)

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**Author:** [@PeterMitrano](https://discourse.openrobotics.org/u/PeterMitrano)\
**Replies:** 1\
**Last updated:** [May 22, 2026, 9:02am UTC](https://discourse.openrobotics.org/t/resolving-package-paths-in-controller-params-file/55009 "2026-05-22T09:02:25Z")

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So I just discovered that the controller manager can take a params\_file param for each controller and runtime load it! That would be a great way to break up our massive hardware.yaml files into per-controller yamls. It l…

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## [Private URDF/Xacro validation (no storage, CI-ready)](https://discourse.openrobotics.org/t/private-urdf-xacro-validation-no-storage-ci-ready/54314)

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**Author:** [@Robotic](https://discourse.openrobotics.org/u/Robotic)\
**Replies:** 0\
**Last updated:** [April 26, 2026, 3:12pm UTC](https://discourse.openrobotics.org/t/private-urdf-xacro-validation-no-storage-ci-ready/54314 "2026-04-26T15:12:03Z")

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Hi, I reached out after hearing a common concern from robotics engineers: “Why would I upload my URDF/Xacro to an external service?” That hesitation makes complete sense especially with proprietary robot models. So j…

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## [RFC: Hardening controller\_manager against cyclic dependencies in chainable controllers](https://discourse.openrobotics.org/t/rfc-hardening-controller-manager-against-cyclic-dependencies-in-chainable-controllers/53924)

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**Author:** [@Shlok\_Mehndiratta](https://discourse.openrobotics.org/u/Shlok_Mehndiratta)\
**Replies:** 0\
**Last updated:** [April 9, 2026, 11:13pm UTC](https://discourse.openrobotics.org/t/rfc-hardening-controller-manager-against-cyclic-dependencies-in-chainable-controllers/53924 "2026-04-09T23:13:41Z")

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Hi everyone, Following the suggestion from @saikishor and @christophfroehlich in the ros-controls repository (Issue #2420), I’m opening this thread to discuss the execution order of chainable controllers when a cyclic d…

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## [Handling missing command interfaces in read\_state\_from\_command\_interface](https://discourse.openrobotics.org/t/handling-missing-command-interfaces-in-read-state-from-command-interface/53551)

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**Author:** [@PeterMitrano](https://discourse.openrobotics.org/u/PeterMitrano)\
**Replies:** 2\
**Last updated:** [April 6, 2026, 1:38pm UTC](https://discourse.openrobotics.org/t/handling-missing-command-interfaces-in-read-state-from-command-interface/53551 "2026-04-06T13:38:55Z")

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Here in the JTC, the state can be initialized from the command if the required param is set. The logic seems to require that you have both state and command interfaces in order to do the initialization. Specifically, you…

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## [Zephyr Zenoh integration for ROS2 control ](https://discourse.openrobotics.org/t/zephyr-zenoh-integration-for-ros2-control/53452)

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**Author:** [@Ohieku\_Eneji](https://discourse.openrobotics.org/u/Ohieku_Eneji)\
**Replies:** 0\
**Last updated:** [March 23, 2026, 2:16am UTC](https://discourse.openrobotics.org/t/zephyr-zenoh-integration-for-ros2-control/53452 "2026-03-23T02:16:43Z")

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Hello :hugs:. I’m highly interested in working on this project from GSoC and it perfectly aligns with my skill set and experience. I understand what the project entails and am starting to draw up my proposal. My underst…

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## [I am looking for swerve drive controller](https://discourse.openrobotics.org/t/i-am-looking-for-swerve-drive-controller/53390)

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**Author:** [@ludrol](https://discourse.openrobotics.org/u/ludrol)\
**Replies:** 1\
**Last updated:** [March 19, 2026, 10:18pm UTC](https://discourse.openrobotics.org/t/i-am-looking-for-swerve-drive-controller/53390 "2026-03-19T22:18:26Z")

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From quick google search there are few, one-off projects that don’t spark much confidence. Is there a good solution for swerve drive or do I also need to write one-off project? P.S. I could open feature request in ros-…

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## [Introducing mujoco\_ros2\_control: High-fidelity simulation for ROS 2](https://discourse.openrobotics.org/t/introducing-mujoco-ros2-control-high-fidelity-simulation-for-ros-2/52683)

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**Author:** [@saikishor](https://discourse.openrobotics.org/u/saikishor)\
**Replies:** 0\
**Last updated:** [February 24, 2026, 10:03pm UTC](https://discourse.openrobotics.org/t/introducing-mujoco-ros2-control-high-fidelity-simulation-for-ros-2/52683 "2026-02-24T22:03:39Z")

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Hello everyone, We are happy to introduce mujoco\_ros2\_control, a package designed to provide a seamless bridge between the MuJoCo physics engine and the ROS 2 control stack. If you are looking for a bridge between the p…

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## [Soft stop for JTC](https://discourse.openrobotics.org/t/soft-stop-for-jtc/52167)

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**Author:** [@pastoriomarco](https://discourse.openrobotics.org/u/pastoriomarco)\
**Replies:** 0\
**Last updated:** [January 28, 2026, 3:37pm UTC](https://discourse.openrobotics.org/t/soft-stop-for-jtc/52167 "2026-01-28T15:37:44Z")

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Hi everyone, I was looking forward to attend to the meeting today to hear your take about the issue #2111 that I opened about the soft stop functionality for JTC. Unlucky I won’t make, but let me know if it’s something…

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## [Gazebo odometry is not the same as RVIz one](https://discourse.openrobotics.org/t/gazebo-odometry-is-not-the-same-as-rviz-one/52007)

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**Author:** [@mattia\_dutto](https://discourse.openrobotics.org/u/mattia_dutto)\
**Replies:** 1\
**Last updated:** [January 27, 2026, 5:24pm UTC](https://discourse.openrobotics.org/t/gazebo-odometry-is-not-the-same-as-rviz-one/52007 "2026-01-27T17:24:10Z")

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Good morning, I’m trying to use both the robot from the Navigation 2 tutorial and the one from the Articulated Robotics tutorial. However, I’m facing an issue when transitioning from a single set of wheels to two sets—on…

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## [PIPER single-arm simulation and control on Genesis](https://discourse.openrobotics.org/t/piper-single-arm-simulation-and-control-on-genesis/51444)

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**Author:** [@Agilex\_Robotics](https://discourse.openrobotics.org/u/Agilex_Robotics)\
**Replies:** 2\
**Last updated:** [December 22, 2025, 10:20am UTC](https://discourse.openrobotics.org/t/piper-single-arm-simulation-and-control-on-genesis/51444 "2025-12-22T10:20:48Z")

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Introduction This guide aims to help users complete the simulation and control of the PIPER single arm on the Genesis Simulation Platform. It details environment deployment, dependency installation, simulator configurati…

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## [Piper RL Demo: Reach Target](https://discourse.openrobotics.org/t/piper-rl-demo-reach-target/51478)

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**Author:** [@Agilex\_Robotics](https://discourse.openrobotics.org/u/Agilex_Robotics)\
**Replies:** 0\
**Last updated:** [December 22, 2025, 10:05am UTC](https://discourse.openrobotics.org/t/piper-rl-demo-reach-target/51478 "2025-12-22T10:05:35Z")

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Piper RL Demo This repository contains simple demonstration code for Piper RL, showing how to use Piper RL to train a simple task: Reach Target, the task requires the center of Piper’s gripper to reach a specified target…

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## [Upcoming ABI break in ros2\_control framework](https://discourse.openrobotics.org/t/upcoming-abi-break-in-ros2-control-framework/51438)

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**Author:** [@saikishor](https://discourse.openrobotics.org/u/saikishor)\
**Replies:** 2\
**Last updated:** [December 18, 2025, 11:31am UTC](https://discourse.openrobotics.org/t/upcoming-abi-break-in-ros2-control-framework/51438 "2025-12-18T11:31:13Z")

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Hello Community, We would like to inform you about an upcoming ABI break in the next sync of Jazzy and Kilted. The reason for this breaking change is that, during our tests, we observed that a significant portion of the…

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## [Recent removal of deprecations on rolling](https://discourse.openrobotics.org/t/recent-removal-of-deprecations-on-rolling/51299)

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**Author:** [@christophfroehlich](https://discourse.openrobotics.org/u/christophfroehlich)\
**Replies:** 1\
**Last updated:** [December 7, 2025, 7:44pm UTC](https://discourse.openrobotics.org/t/recent-removal-of-deprecations-on-rolling/51299 "2025-12-07T19:44:56Z")

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As we have noticed with the recent rolling sync, there were lots of packages that not have yet adapted to API breaking changes of ros2\_control. Shoutout to @Yadunund for opening lots of issues in the broken packages. I …

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## [Ros-controls PMC meeting 3rd December 2025](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-3rd-december-2025/51256)

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**Author:** [@bmagyar](https://discourse.openrobotics.org/u/bmagyar)\
**Replies:** 0\
**Last updated:** [December 2, 2025, 5:38pm UTC](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-3rd-december-2025/51256 "2025-12-02T17:38:55Z")

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Hello there folks, The next ros-controls PMC meeting will be Invalid date (UTC). Please note that this is our Americas-friendly timeslot. Anyone who wishes to attend, please review and add your points to the agenda: sh…

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## [Ros-controls PMC meeting 19th November 2025](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-19th-november-2025/51024)

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**Author:** [@bmagyar](https://discourse.openrobotics.org/u/bmagyar)\
**Replies:** 0\
**Last updated:** [November 17, 2025, 11:35am UTC](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-19th-november-2025/51024 "2025-11-17T11:35:43Z")

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Hello there folks, The next ros-controls PMC meeting will be 2025-11-19T18:00:00Z (UTC). Please note that this is our Americas-friendly timeslot. Anyone who wishes to attend, please review and add your points to the ag…

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## [Ros2\_control stable release for Kilted Kaiju](https://discourse.openrobotics.org/t/ros2-control-stable-release-for-kilted-kaiju/50488)

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**Author:** [@christophfroehlich](https://discourse.openrobotics.org/u/christophfroehlich)\
**Replies:** 0\
**Last updated:** [October 10, 2025, 7:47pm UTC](https://discourse.openrobotics.org/t/ros2-control-stable-release-for-kilted-kaiju/50488 "2025-10-10T19:47:38Z")

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We are happy to announce that ros2\_control reached the stable release state for the kilted distro with this week’s sync. Read more in the latest post about what “stable release” means. Selected highlights: New anti-wi…

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## [Releases, Versioning, and Public API claim of ros-controls](https://discourse.openrobotics.org/t/releases-versioning-and-public-api-claim-of-ros-controls/50388)

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**Author:** [@christophfroehlich](https://discourse.openrobotics.org/u/christophfroehlich)\
**Replies:** 2\
**Last updated:** [October 6, 2025, 6:17pm UTC](https://discourse.openrobotics.org/t/releases-versioning-and-public-api-claim-of-ros-controls/50388 "2025-10-06T18:17:24Z")

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We’re happy to share the release policy for all ros-controls packages, which the PMC has recently finalized and published. tl;dr We don’t guarantee ABI stability (Rebuild after any upstream package update!). We al…

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## [ROS 2 Control Async](https://discourse.openrobotics.org/t/ros-2-control-async/50358)

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**Author:** [@dufrenekm](https://discourse.openrobotics.org/u/dufrenekm)\
**Replies:** 1\
**Last updated:** [October 3, 2025, 6:19pm UTC](https://discourse.openrobotics.org/t/ros-2-control-async/50358 "2025-10-03T18:19:02Z")

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Hi - I am trying to understand more about async controllers in ROS 2 Jazzy. My understanding is that the is\_async parameter (when true) will spawn a new thread with AsyncFunctionHandler. I believe this is part of the sa…

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## [Ros-controls PMC meeting 24 September 2025](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-24-september-2025/50228)

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**Author:** [@bmagyar](https://discourse.openrobotics.org/u/bmagyar)\
**Replies:** 0\
**Last updated:** [September 23, 2025, 6:16pm UTC](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-24-september-2025/50228 "2025-09-23T18:16:18Z")

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Hello there folks, The next ros-controls PMC meeting will be 2025-09-24T17:00:00Z (UTC). Please note that this is our Americas-friendly timeslot. Anyone who wishes to attend, please review and add your points to the ag…

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## [Ros-controls PMC meeting 27th August 2025](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-27th-august-2025/49749)

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**Author:** [@bmagyar](https://discourse.openrobotics.org/u/bmagyar)\
**Replies:** 0\
**Last updated:** [August 26, 2025, 10:33am UTC](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-27th-august-2025/49749 "2025-08-26T10:33:18Z")

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Hello there folks, The next ros-controls PMC meeting will be 2025-08-27T17:00:00Z (UTC). Please note that this is our Americas-friendly timeslot. Anyone who wishes to attend, please review and add your points to the ag…

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## [Proposal: Standardized Hardware Status Reporting in ros2\_control](https://discourse.openrobotics.org/t/proposal-standardized-hardware-status-reporting-in-ros2-control/49461)

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**Author:** [@Soham\_Patil](https://discourse.openrobotics.org/u/Soham_Patil)\
**Replies:** 1\
**Last updated:** [August 20, 2025, 9:29pm UTC](https://discourse.openrobotics.org/t/proposal-standardized-hardware-status-reporting-in-ros2-control/49461 "2025-08-20T21:29:55Z")

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Hello ROS Community, My name is Soham Sanjay Patil (@soham2560), and I am excited to share one of the core parts of my Google Summer of Code 2025 project with Open Robotics. This project, “Hardware Diagnostics Support f…

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## [Ros-controls PMC meeting 13 August 2025](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-13-august-2025/49536)

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**Author:** [@bmagyar](https://discourse.openrobotics.org/u/bmagyar)\
**Replies:** 0\
**Last updated:** [August 12, 2025, 6:52am UTC](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-13-august-2025/49536 "2025-08-12T06:52:41Z")

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Hello there folks, The next ros-controls PMC meeting will be 2025-08-13T17:00:00Z (UTC). Please note that this is our Americas-friendly timeslot. Anyone who wishes to attend, please review and add your points to the ag…

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## [Ros-controls PMC meeting 30th July 2025](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-30th-july-2025/49328)

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**Author:** [@bmagyar](https://discourse.openrobotics.org/u/bmagyar)\
**Replies:** 0\
**Last updated:** [July 29, 2025, 2:53pm UTC](https://discourse.openrobotics.org/t/ros-controls-pmc-meeting-30th-july-2025/49328 "2025-07-29T14:53:02Z")

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Hello there folks, The next ros-controls PMC meeting will be 2025-07-30T17:00:00Z (UTC). Please note that this is our Americas-friendly timeslot. Anyone who wishes to attend, please review and add your points to the ag…

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## [Ros-control PMC meeting 2nd July 2025](https://discourse.openrobotics.org/t/ros-control-pmc-meeting-2nd-july-2025/44958)

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**Author:** [@bmagyar](https://discourse.openrobotics.org/u/bmagyar)\
**Replies:** 0\
**Last updated:** [June 30, 2025, 1:05pm UTC](https://discourse.openrobotics.org/t/ros-control-pmc-meeting-2nd-july-2025/44958 "2025-06-30T13:05:38Z")

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Hello there folks, The next ros-controls PMC meeting will be 2025-06-02T17:00:00Z (UTC). Please note that this is our Americas-friendly timeslot. Anyone who wishes to attend, please review and add your points to the ag…