ros-controls/ros2_controllers

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Generic robotic controllers to accompany ros2_control

Stars: 834
Forks: 530
Open beginner issues: 0
Indexed issues: 76
Avg merge: 18h 3m
Merged PRs (30d): 19

Dominant language: C++
License: Apache-2.0
Last GitHub push: Sep 11, 2026
Latest indexed: Sep 19, 2026
Contributing guide: Contributing guide
Code of conduct: No code of conduct
Beginner labels: help wanted good first issue

Beginner friendly Everything

Open All

76 open issues indexed

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
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
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
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
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
effort_controllers appears to use controller_interface directly without declaring it Open

ros-controls/ros2_controllers#2469 · 1 comment · 1 assignee · Opened Jul 11, 2026
Cartesian Trajectory Generator Open

enhancement stale

Difficulty 5/5 Over a week Newbie friendliness 38/100

ros-controls/ros2_controllers#2435 · 2 comments · Opened Jun 22, 2026
Jerk Limiting in the Joint Limits and Integrated to JTC Open

enhancement stale

Difficulty 5/5 Over a week Newbie friendliness 28/100

ros-controls/ros2_controllers#2434 · 2 comments · 1 reaction · Opened Jun 22, 2026
bug(tricycle_controller): strict inequality for M_PI_2 boundary causes speed scale to drop to ~0 instead of 0.01 limit Open

bug

Difficulty 1/5 Under an hour Newbie friendliness 84/100

ros-controls/ros2_controllers#2391 · 3 comments · Opened Jun 6, 2026
Safety concern with halt in mobile robot controllers Open

good first issue

ros-controls/ros2_controllers#2325 · 4 comments · 1 assignee · Opened Apr 22, 2026
Unify the odometry API across controllers Open

good second issue

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

ros-controls/ros2_controllers#2251 · 4 comments · Opened Mar 28, 2026
[steering_controllers_library] Implement velocity limits (Consistency with DiffDrive) Open

persistent stale

ros-controls/ros2_controllers#2129 · 4 comments · 1 assignee · Opened Jan 26, 2026
Deprecate dynamic_joint_states Open

persistent stale

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

ros-controls/ros2_controllers#2044 · 1 comment · Opened Dec 3, 2025
Roll-out changes to odometry calculation to all controllers Open

good second issue

ros-controls/ros2_controllers#2039 · 4 comments · 1 assignee · Opened Dec 1, 2025
`max_deceleration_reverse` parameter does not default to `max_deceleration` Open

persistent

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

ros-controls/ros2_controllers#2029 · 3 comments · Opened Nov 28, 2025
JTC segfaults during deactivation Open

bug

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

ros-controls/ros2_controllers#2028 · 10 comments · Opened Nov 26, 2025
Refactor: joint_trajectory_controllers library Open

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

ros-controls/ros2_controllers#2018 · 13 comments · Opened Nov 20, 2025
Boolean data type signals are not supported by GPIO Controller Open

bug persistent

ros-controls/ros2_controllers#1970 · 7 comments · 1 assignee · Opened Oct 21, 2025
Unified the unit of `cmd_vel_timeout` Open

bug persistent stale

ros-controls/ros2_controllers#1937 · 16 comments · 1 assignee · Opened Sep 30, 2025
Speed Scaling - Is there a plan to extend to velocity/acceleration-based interfaces? Open

enhancement persistent

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

ros-controls/ros2_controllers#1906 · 8 comments · Opened Sep 11, 2025
"[pal_statistics]: Unable to register entity" in tests Open

persistent

ros-controls/ros2_controllers#1838 · 1 reaction · 1 assignee · Opened Jul 28, 2025
Joint State Broadcaster print warning when unable to remap the interface properly Open

good first issue

ros-controls/ros2_controllers#1776 · 3 comments · 1 assignee · Opened Jun 25, 2025
Reset header stamps to zero in reset methods Open

persistent

ros-controls/ros2_controllers#1774 · 1 comment · 1 assignee · Opened Jun 25, 2025
ForwardCommandController: It should at least warn when receives messages while not active Open

enhancement good second issue

Difficulty 3/5 1-2 days Newbie friendliness 52/100

ros-controls/ros2_controllers#1760 · 5 comments · Opened Jun 17, 2025
Proposal: Modular Reference Handling in ROS 2 Controllers Open

enhancement persistent

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

ros-controls/ros2_controllers#1757 · 9 comments · Opened Jun 13, 2025
Update mecanum_drive_controller with common controller features Open

enhancement persistent

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

ros-controls/ros2_controllers#1676 · 11 comments · Opened May 9, 2025
Postition, Velocity, and Effort Joint Trajectory Controller Open

enhancement persistent

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

ros-controls/ros2_controllers#1615 · 12 comments · Opened Mar 29, 2025
Project Idea: Feature-parity for controllers from ROS1 Open

persistent

Difficulty 5/5 Over a week Newbie friendliness 20/100

ros-controls/ros2_controllers#1610 · Opened Mar 26, 2025
pid_controller: add reference interfaces for gains Open

good second issue

ros-controls/ros2_controllers#1590 · 7 comments · 1 assignee · Opened Mar 12, 2025
rqt_joint_trajectory_controller leads to erratic joint movement Open

bug persistent

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

ros-controls/ros2_controllers#1579 · 6 comments · Opened Mar 10, 2025
[JTC] Action goal replacement doesn't cancel the old goal in time Open

bug persistent

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

ros-controls/ros2_controllers#1519 · 1 comment · 1 reaction · Opened Feb 3, 2025
Extend tests for odometry of steering controllers library Open

good second issue

ros-controls/ros2_controllers#1456 · 2 comments · 1 assignee · Opened Dec 29, 2024
Add a controller for afour wheel independent steering / drive mobile base, aka a swerve drive Open

enhancement persistent

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

ros-controls/ros2_controllers#1425 · 16 comments · 6 reactions · Opened Dec 15, 2024
diff drive controller's odom topic publishing with the wrong QOS profile Open

bug persistent stale

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

ros-controls/ros2_controllers#1284 · 2 comments · Opened Sep 10, 2024
Make Tricycle Controller a chainable controller Open

enhancement persistent stale

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

ros-controls/ros2_controllers#1260 · 7 comments · Opened Aug 21, 2024
6-wheel rover controller Open

enhancement persistent stale

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

ros-controls/ros2_controllers#1243 · 6 comments · Opened Aug 7, 2024
JTC Cancels original and new trajectory when performing trajectory replacement with RT kernel Open

bug persistent stale

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

ros-controls/ros2_controllers#1241 · 10 comments · Opened Aug 5, 2024
parallel gripper: feedback / improvements Open

enhancement good second issue persistent stale

ros-controls/ros2_controllers#1229 · 5 comments · 1 assignee · Opened Jul 25, 2024
[JTC] Add more options for tolerance configuration Open

good second issue stale

Difficulty 4/5 3-5 days Newbie friendliness 30/100

ros-controls/ros2_controllers#1180 · 2 comments · Opened Jun 24, 2024
Clarifications on admittance controller for possible enhancements Open

persistent question stale

Difficulty 5/5 Over a week Newbie friendliness 15/100

ros-controls/ros2_controllers#1178 · 2 comments · Opened Jun 20, 2024
[ Documentation ] - Provide more documentation for the admittance controller Open

enhancement persistent stale

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

ros-controls/ros2_controllers#1169 · 1 comment · 2 reactions · Opened Jun 10, 2024
Parse URDF in the DiffDrive Controller and JTC Open

help wanted persistent stale

ros-controls/ros2_controllers#1091 · 13 comments · 2 assignees · Opened Apr 1, 2024
[JTC] Deactivating controller while action is executed: invalid transition Open

bug persistent stale

Difficulty 4/5 3-5 days Newbie friendliness 30/100

ros-controls/ros2_controllers#1044 · 1 comment · Opened Feb 14, 2024
[JTC] Cleanup TODO-List from #320 Open

persistent stale

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

ros-controls/ros2_controllers#944 · 2 comments · Opened Dec 22, 2023
Improve Steering Controller Tests Open

good second issue help wanted

ros-controls/ros2_controllers#930 · 3 comments · 1 assignee · Opened Dec 14, 2023
rqt_joint_trajectory_controller refurbishment Open

good first issue help wanted

ros-controls/ros2_controllers#894 · 11 comments · 1 assignee · Opened Dec 9, 2023
tricycle_controller vs tricycle_steering_controller Open

enhancement persistent stale

Difficulty 5/5 Over a week Newbie friendliness 18/100

ros-controls/ros2_controllers#850 · 2 comments · Opened Nov 19, 2023

ros-controls/ros2_controllers

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