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ros-controls

13 indexed repositories · View on GitHub

ros2_control
Generic and simple controls framework for ROS 2

C++ · 1014 stars
ros2_control_demos
This repository aims at providing examples to illustrate ros2_control and ros2_controllers

Python · 852 stars
ros2_controllers
Generic robotic controllers to accompany ros2_control

C++ · 834 stars
gz_ros2_control
Connect the latest version of Gazebo with ros2_control.

Python · 258 stars
mujoco_ros2_control
ROS2 control package for Mujoco simulation physics simulator, including plugins for various sensors, RGB-D cameras, and lidar.

C++ · 249 stars
realtime_tools
Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.

C++ · 192 stars
control_toolbox
This package contains several C++ classes useful in writing controllers.

C++ · 176 stars
kinematics_interface

C++ · 50 stars
control.ros.org

Python · 29 stars
zenbedded
Project to integrate ros2_control with embedded boards using Zephyr and Zenoh

C++ · 18 stars
topic_based_hardware_interfaces

C++ · 13 stars
ros2_control_ci
This repository holds reusable workflows for CI of the ros2_control framework.

Dockerfile · 12 stars
foreman
Control system component manager for ros2 control

Python · 11 stars

Beginner friendly Everything

Open All

Upload artifacts in downstream PRs Open

enhancement

Difficulty 3/5 1-2 days Newbie friendliness 68/100

ros-controls/control.ros.org#733 · Opened Sep 19, 2026
CI build job jazzy/main failed! Open

CI

Difficulty 3/5 1-2 days Newbie friendliness 25/100

ros-controls/ros2_control_ci#918 · Opened Sep 19, 2026
CI build job jazzy/testing failed! Open

CI

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros-controls/ros2_control_ci#917 · Opened Sep 19, 2026
MecanumDriveController may retain stale reference commands when receiving invalid values Open

bug

Difficulty 2/5 1-3 hours Newbie friendliness 84/100

ros-controls/ros2_controllers#2616 · Opened Sep 18, 2026
CI build job kilted/source failed! Open

CI

Difficulty 3/5 1-2 days Newbie friendliness 35/100

ros-controls/ros2_control#3628 · Opened Sep 18, 2026
CI build job lyrical/testing failed! Open

CI

Difficulty 3/5 1-2 days Newbie friendliness 45/100

ros-controls/realtime_tools#591 · Opened Sep 18, 2026
JTC allow_trajectory_replacement never blends when the active trajectory has only one point Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 45/100

ros-controls/ros2_controllers#2615 · 1 comment · Opened Sep 17, 2026
Support steering-rate wheel-speed compensation for driven steering wheels with nonzero kingpin offset Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 45/100

ros-controls/ros2_controllers#2614 · Opened Sep 17, 2026
Handle namespaces properly in FTS Gravity compensation plugin Open

Difficulty 3/5 1-2 days Newbie friendliness 38/100

ros-controls/mujoco_ros2_control#309 · Opened Sep 14, 2026
Fault deactivation always logs "Error while attempting mode switch" because the component is torn down before the switch is attempted Open

Difficulty 3/5 1-2 days Newbie friendliness 84/100

ros-controls/ros2_control#3620 · Opened Sep 14, 2026
Data race: introspection sampler reads is_command_limited_ while the set_limited_value limiter callback writes it Open

Difficulty 4/5 3-5 days Newbie friendliness 55/100

ros-controls/ros2_control#3618 · Opened Sep 14, 2026
# Data races in RTControllerListWrapper list indices Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 74/100

ros-controls/ros2_control#3614 · Opened Sep 13, 2026
Data race on ResourceManager::handle_exceptions during initialization Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 68/100

ros-controls/ros2_control#3613 · Opened Sep 12, 2026
Data race on ResourceManager::handle_exceptions during initialization Open

bug

Difficulty 2/5 1-3 hours Newbie friendliness 84/100

ros-controls/ros2_control#3611 · Opened Sep 12, 2026
position_proportional_gain silently ignored — plugin node constructed before <parameters> YAML reaches its rcl context (0.7.20) Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 72/100

ros-controls/gz_ros2_control#962 · Opened Sep 11, 2026
CI build job jazzy/main failed! Open

CI

Difficulty 3/5 1-2 days Newbie friendliness 35/100

ros-controls/topic_based_hardware_interfaces#142 · 1 comment · Opened Sep 11, 2026
Architectural & Memory Safety Patches Required for RCL and Transport Open

bug

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros-controls/zenbedded#77 · 1 comment · 1 reaction · Opened Sep 10, 2026
`priority 99` recommendation in documentation Open

Difficulty 3/5 1-2 days Newbie friendliness 55/100

ros-controls/ros2_control#3605 · 1 comment · Opened Sep 9, 2026
TSan data race between hardware statistics update and diagnostics callback Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 58/100

ros-controls/ros2_control#3603 · 1 comment · Opened Sep 9, 2026
CI build job rolling/testing failed! Open

CI

Difficulty 3/5 1-2 days Newbie friendliness 35/100

ros-controls/foreman#40 · Opened Sep 8, 2026
Proposal: Add a Linux SocketCAN differential-drive hardware example Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros-controls/ros2_control_demos#1199 · Opened Sep 6, 2026
Time Synchronization Strategies for tier 1 Open

enhancement

ros-controls/zenbedded#66 · 1 assignee · Opened Sep 4, 2026
PR #64 ships with the bidirectional-traffic constraints. Open

bug

Difficulty 5/5 Over a week Newbie friendliness 30/100

ros-controls/zenbedded#65 · 1 reaction · Opened Sep 3, 2026
Sphinx reports a duplicated entry error Open

bug

ros-controls/zenbedded#63 · 2 comments · 1 assignee · Opened Sep 2, 2026
test_chained_controllers_adding_in_random_order is flakey Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 48/100

ros-controls/ros2_control#3582 · Opened Sep 2, 2026
unload_on_kill_does_not_block_other_spawners is flakey Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 68/100

ros-controls/ros2_control#3581 · 3 comments · Opened Sep 2, 2026
CI build job lyrical/testing failed! Open

CI

Difficulty 3/5 1-2 days Newbie friendliness 35/100

ros-controls/foreman#39 · 1 comment · Opened Sep 2, 2026
site_velocity_launch_test is flaky Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 65/100

ros-controls/mujoco_ros2_control#297 · Opened Aug 31, 2026
Mimic joint EFFORT interface is gated on the velocity predicate, so an effort-only mimic gets no interfaces Open

Difficulty 4/5 3-5 days Newbie friendliness 38/100

ros-controls/gz_ros2_control#951 · 2 comments · Opened Aug 27, 2026
Cleanup CMakeLists.txt and fix tinyxml2 for the build farm Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 38/100

ros-controls/mujoco_ros2_control#292 · 3 comments · 1 reaction · Opened Aug 27, 2026
Mimic joints ignore `position_proportional_gain` Open

Difficulty 3/5 1-2 days Newbie friendliness 48/100

ros-controls/gz_ros2_control#949 · 1 comment · Opened Aug 26, 2026
Use urdf_test package Open

good first issue

ros-controls/ros2_control_demos#1186 · 6 comments · 1 assignee · Opened Aug 24, 2026
Sharing camera_sensor_broadcaster, lidar_sensor_broadcaster, and related controllers — looking for help integrating them upstream Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros-controls/ros2_controllers#2574 · 8 comments · Opened Aug 22, 2026
Usage of hardware FPU on xtensa cpus Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 48/100

ros-controls/zenbedded#50 · Opened Aug 18, 2026
JTC test_success_multi_point_with_velocity_sendgoal is flaky Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 68/100

ros-controls/ros2_controllers#2572 · 3 comments · Opened Aug 18, 2026
Add Apple workflows Open

enhancement

Difficulty 3/5 1-2 days Newbie friendliness 55/100

ros-controls/ros2_control_ci#887 · 1 reaction · Opened Aug 17, 2026
Allow to control the actuator instead of the joint Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 42/100

ros-controls/gz_ros2_control#938 · 1 comment · Opened Aug 14, 2026
JTC segfault in rclcpp::Time at shutdown Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 42/100

ros-controls/ros2_controllers#2561 · Opened Aug 12, 2026
rqt_jtc still has a race Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros-controls/ros2_controllers#2555 · 5 comments · Opened Aug 11, 2026
JTC test_scaling_execution_time_succeeds is flaky Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 62/100

ros-controls/ros2_controllers#2554 · 15 comments · Opened Aug 11, 2026
Build failure on windows Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 55/100

ros-controls/mujoco_ros2_control#278 · Opened Aug 11, 2026
wrong plugin install path Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 68/100

ros-controls/mujoco_ros2_control#277 · 6 comments · Opened Aug 10, 2026
wrong magnetometer units Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 45/100

ros-controls/mujoco_ros2_control#275 · 1 comment · Opened Aug 9, 2026
option to set tracking camera and trackbodyid Open

enhancement

Difficulty 3/5 1-2 days Newbie friendliness 58/100

ros-controls/mujoco_ros2_control#273 · 2 comments · Opened Aug 9, 2026
`trackcom` camera registered with 1x1 resolution Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 55/100

ros-controls/mujoco_ros2_control#272 · Opened Aug 8, 2026
SetFreeJointStateRejectsBatchAtomically segfaults Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros-controls/mujoco_ros2_control#252 · 3 comments · Opened Jul 25, 2026
automatic robot description conversion Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 30/100

ros-controls/mujoco_ros2_control#251 · 4 comments · Opened Jul 24, 2026
sphinx errors: undefined labels Open

Difficulty 2/5 1-3 hours Newbie friendliness 58/100

ros-controls/mujoco_ros2_control#243 · 1 comment · Opened Jul 21, 2026
strings for command and state interfaces Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros-controls/ros2_control#3491 · 2 comments · 1 reaction · Opened Jul 21, 2026
memory leak when changing hardware state Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 48/100

ros-controls/ros2_control#3487 · 14 comments · Opened Jul 19, 2026

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