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Merged
ahcorde merged 3 commits into from
Sep 29, 2025
+4 −15
Merged

Update docs (backport #692) #694

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2d3831c
Update docs (#692)
christophfroehlich Sep 29, 2025
00baaf9
Fix merge conflicts
christophfroehlich Sep 29, 2025
5510e9f
Apply suggestion from @christophfroehlich
christophfroehlich Sep 29, 2025
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19 changes: 4 additions & 15 deletions doc/index.rst
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Expand Up @@ -218,17 +218,6 @@ Additionally, one can specify a namespace and remapping rules, which will be for
</plugin>
</gazebo>

Default gz_ros2_control Behavior
-----------------------------------------------------------

By default, without a ``<plugin>`` tag, *gz_ros2_control* will attempt to get all of the information it needs to interface with a ros2_control-based controller out of the URDF. This is sufficient for most cases, and good for at least getting started.

The default behavior provides the following ros2_control interfaces:

* hardware_interface::JointStateInterface
* hardware_interface::EffortJointInterface
* hardware_interface::VelocityJointInterface

Advanced: custom gz_ros2_control Simulation Plugins
-----------------------------------------------------------

Expand All @@ -237,19 +226,19 @@ The *gz_ros2_control* Gazebo plugin also provides a pluginlib-based interface to
These plugins must inherit the ``gz_ros2_control::GazeboSimSystemInterface``, which implements a simulated *ros2_control*
``hardware_interface::SystemInterface``. SystemInterface provides API-level access to read and command joint properties.

The respective GazeboSimSystemInterface sub-class is specified in a URDF model and is loaded when the
robot model is loaded. For example, the following XML will load the default plugin:
The respective GazeboSimSystemInterface is specified in a URDF model and is loaded when the
robot model is loaded. For example, the following XML will load a custom plugin:

.. code-block:: xml

<ros2_control name="GazeboSimSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
<plugin>gz_ros2_control_demos/GazeboCustomSimSystem</plugin>
</hardware>
...
<ros2_control>
<gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
...
</plugin>
</gazebo>
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