{"id":2572,"date":"2025-07-11T11:28:47","date_gmt":"2025-07-11T11:28:47","guid":{"rendered":"https:\/\/learnbydoing.dev\/?p=2572"},"modified":"2026-01-10T22:23:48","modified_gmt":"2026-01-10T22:23:48","slug":"how-to-integrate-ros-control-into-a-simulated-robot-in-gazebo","status":"publish","type":"post","link":"https:\/\/learnbydoing.dev\/how-to-integrate-ros-control-into-a-simulated-robot-in-gazebo\/","title":{"rendered":"How to Integrate ROS Control into a Simulated Robot in Gazebo"},"content":{"rendered":"
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  • \n\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\n\t\t\t\tLinux<\/span>, ROS<\/span>, Tutoriales<\/span>\t\t\t\t<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t<\/ul>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t
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    Controlling a simulated robot as if it were real \u2014 that\u2019s the power of ROS Control. In this guide, we\u2019ll see how to properly configure the URDF model so ROS can “command” the simulated motors of our BumperBot.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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    \ud83d\ude80 Introduction: What Is ROS Control and Why Use It?<\/strong><\/h3>

    Imagine building a robot with real motors, sensors, and joints. You wouldn\u2019t want to manually write low-level code to drive every motor or calculate PID loops, right? That\u2019s exactly where ROS Control<\/strong> comes in.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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    \ud83d\udd27 What is ROS Control?<\/strong><\/h3>

    ROS Control<\/strong> is a framework in ROS (Robot Operating System) that separates your robot\u2019s high-level logic<\/strong> from the low-level hardware interfaces<\/strong>. It enables:

    <\/p>

    • Real-time controllers (e.g., velocity, position, effort)

      <\/p><\/li>

    • Modular configuration of actuators and sensors

      <\/p><\/li>

    • Easy switching between simulation and real hardware

      <\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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      \ud83c\udfaf Why Should You Use It?<\/strong><\/h3>

      Whether you’re simulating a robot in Gazebo or controlling a physical machine, ROS Control gives you:

      <\/p>

      • \u00a0A unified interface to interact with joints

        <\/p><\/li>

      • \u00a0A standardized way to load controllers

        <\/p><\/li>

      • \u00a0The ability to use the same code in both simulation<\/strong> and real-world robots

        <\/strong><\/p><\/li><\/ul>

        In this tutorial, you\u2019ll learn how to enable ROS Control<\/strong> in Gazebo<\/strong> by modifying your robot\u2019s URDF\/Xacro model<\/strong> and linking it to Gazebo\u2019s physics engine.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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        \ud83c\udfaf Lesson Goal<\/strong><\/h3>

        Use ROS Control<\/strong> to drive the motors of the BumperBot<\/em> robot simulated in Gazebo<\/strong>, by modifying the URDF\/Xacro<\/strong> file and adding the necessary plugin.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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        \ud83e\uddf0 Prerequisites<\/strong><\/h3>

        • ROS installed (ROS Noetic or Melodic)

          <\/p><\/li>

        • Ubuntu 20.04

          <\/p><\/li>

        • BumperBot project set up

          <\/p><\/li>

        • Gazebo installed

          <\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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          \ud83e\uddea A Bit of Theory: Velocity Joint Control<\/strong><\/h3>

          For mobile robots, controlling wheel velocity is key. In ROS Control, this is done using the VelocityJointInterface<\/code>, which allows us to send target speeds<\/strong> (in radians\/sec) to each wheel joint.<\/p>

          \u00a0<\/p>

          \ud83d\udccc A controller<\/strong> sends velocity commands \u2192 hardware interface<\/strong> processes it \u2192 actuator (motor)<\/strong> executes it \u2192 joint<\/strong> moves in simulation or real world.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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          \ud83d\udcdd Editing the URDF Model (Xacro)<\/strong><\/h3>

          Open the file bumperbot_gazebo.xacro<\/code> in Visual Studio Code<\/strong>.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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          \ud83d\udd29 Adding Transmissions to the Joints<\/strong><\/h3>

          To control a joint with ROS, you need to define a transmission<\/strong>. Let\u2019s start with the right wheel.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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          \n\t\t\t\t\n\t\t\t\t\t<transmission name=\"wheel_right_transmission\">\r\n  <type>transmission_interface\/SimpleTransmission<\/type>\r\n  <joint name=\"wheel_right_joint\">\r\n    <hardwareInterface>hardware_interface\/VelocityJointInterface<\/hardwareInterface>\r\n  <\/joint>\r\n  <actuator name=\"wheel_right_motor\">\r\n    <hardwareInterface>hardware_interface\/VelocityJointInterface<\/hardwareInterface>\r\n    <mechanicalReduction>1.0<\/mechanicalReduction>\r\n  <\/actuator>\r\n<\/transmission>\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-bd44cb2 elementor-widget elementor-widget-text-editor\" data-id=\"bd44cb2\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h4 data-start=\"3328\" data-end=\"3346\"><strong>\ud83d\udccc Explanation<\/strong><\/h4><ul data-start=\"3348\" data-end=\"3654\"><li data-start=\"3348\" data-end=\"3415\"><p data-start=\"3350\" data-end=\"3415\"><code data-start=\"3350\" data-end=\"3356\">type<\/code>: Transmission type (SimpleTransmission is the most common)<\/p><\/li><li data-start=\"3416\" data-end=\"3455\"><p data-start=\"3418\" data-end=\"3455\"><code data-start=\"3418\" data-end=\"3425\">joint<\/code>: Name of the joint to control<\/p><\/li><li data-start=\"3456\" data-end=\"3501\"><p data-start=\"3458\" data-end=\"3501\"><code data-start=\"3458\" data-end=\"3468\">actuator<\/code>: Motor associated with the joint<\/p><\/li><li data-start=\"3502\" data-end=\"3578\"><p data-start=\"3504\" data-end=\"3578\"><code data-start=\"3504\" data-end=\"3523\">hardwareInterface<\/code>: Defines the control mode (velocity, position, effort)<\/p><\/li><li data-start=\"3579\" data-end=\"3654\"><p data-start=\"3581\" data-end=\"3654\"><code data-start=\"3581\" data-end=\"3602\">mechanicalReduction<\/code>: Ratio between motor shaft and wheel (1.0 = direct)<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a11e24e elementor-widget elementor-widget-text-editor\" data-id=\"a11e24e\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"3744\" data-end=\"3774\"><strong>\ud83d\udd01 Copy for the Left Wheel<\/strong><\/h3><p data-start=\"3776\" data-end=\"3807\">Just copy and change the names:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e127889 elementor-widget elementor-widget-code-highlight\" data-id=\"e127889\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard\">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-xml line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-xml\">\n\t\t\t\t\t<xmp><transmission name=\"wheel_left_transmission\">\r\n  <type>transmission_interface\/SimpleTransmission<\/type>\r\n  <joint name=\"wheel_left_joint\">\r\n    <hardwareInterface>hardware_interface\/VelocityJointInterface<\/hardwareInterface>\r\n  <\/joint>\r\n  <actuator name=\"wheel_left_motor\">\r\n    <hardwareInterface>hardware_interface\/VelocityJointInterface<\/hardwareInterface>\r\n    <mechanicalReduction>1.0<\/mechanicalReduction>\r\n  <\/actuator>\r\n<\/transmission>\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-aa3c1a5 elementor-widget elementor-widget-text-editor\" data-id=\"aa3c1a5\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"4262\" data-end=\"4304\"><strong>\ud83e\udde9 Adding the gazebo_ros_control Plugin<\/strong><\/h3><p data-start=\"4306\" data-end=\"4406\">To allow Gazebo to simulate the motor behavior, we must include the <strong data-start=\"4374\" data-end=\"4398\"><code data-start=\"4376\" data-end=\"4396\">gazebo_ros_control<\/code><\/strong> plugin:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8b9b9ba elementor-widget elementor-widget-code-highlight\" data-id=\"8b9b9ba\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard\">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-xml line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-xml\">\n\t\t\t\t\t<xmp><gazebo>\r\n  <plugin name=\"gazebo_ros_control\" filename=\"libgazebo_ros_control.so\">\r\n    <robotSimType>gazebo_ros_control\/DefaultRobotHWSim<\/robotSimType>\r\n    <legacyModeNS>true<\/legacyModeNS>\r\n  <\/plugin>\r\n<\/gazebo>\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b2c6315 elementor-widget elementor-widget-text-editor\" data-id=\"b2c6315\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h4 data-start=\"4632\" data-end=\"4646\"><strong>\ud83d\udd0d Details<\/strong><\/h4><ul data-start=\"4648\" data-end=\"4832\"><li data-start=\"4648\" data-end=\"4695\"><p data-start=\"4650\" data-end=\"4695\"><code data-start=\"4650\" data-end=\"4660\">filename<\/code>: Shared library file of the plugin<br \/><br \/><\/p><\/li><li data-start=\"4696\" data-end=\"4760\"><p data-start=\"4698\" data-end=\"4760\"><code data-start=\"4698\" data-end=\"4712\">robotSimType<\/code>: Interface Gazebo uses to simulate the hardware<br \/><br \/><\/p><\/li><li data-start=\"4761\" data-end=\"4832\"><p data-start=\"4763\" data-end=\"4832\"><code data-start=\"4763\" data-end=\"4777\">legacyModeNS<\/code>: Enables compatibility with legacy namespace structure<\/p><p data-start=\"4763\" data-end=\"4832\">\u00a0<\/p><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3f6b876 elementor-widget elementor-widget-text-editor\" data-id=\"3f6b876\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"4929\" data-end=\"4949\"><strong>\ud83d\udcbe Save and Test!<\/strong><\/h3><ol data-start=\"4951\" data-end=\"5020\"><li data-start=\"4951\" data-end=\"4996\"><p data-start=\"4954\" data-end=\"4996\"><strong data-start=\"4954\" data-end=\"4996\">Save the <code data-start=\"4965\" data-end=\"4989\">bumperbot_gazebo.xacro<\/code> file<br \/><br \/><\/strong><\/p><\/li><li data-start=\"4997\" data-end=\"5020\"><p data-start=\"5000\" data-end=\"5020\">Open a new terminal:<\/p><\/li><\/ol>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-57e54a6 elementor-widget elementor-widget-code-highlight\" data-id=\"57e54a6\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard\">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-bash\">\n\t\t\t\t<code readonly=\"true\" class=\"language-bash\">\n\t\t\t\t\t<xmp>cd ~\/bumperbot_ws\r\nsource devel\/setup.bash\r\nroslaunch bumperbot_description gazebo.launch\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2197426 elementor-widget elementor-widget-text-editor\" data-id=\"2197426\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"5552\" data-end=\"5567\"><strong>\u2705 Conclusion<\/strong><\/h3><p data-start=\"5569\" data-end=\"5769\">We have successfully configured ROS Control for the simulated BumperBot robot. Now we can use standard ROS controllers to send <strong data-start=\"5696\" data-end=\"5717\">velocity commands<\/strong> to the wheels \u2014 just like controlling a real robot!<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-c5d20e7 e-con-full e-flex e-con e-parent\" data-id=\"c5d20e7\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-0741169 elementor-bg-transform elementor-bg-transform-move-left elementor-cta--layout-image-left elementor-cta--mobile-layout-image-above elementor-cta--skin-classic elementor-animated-content elementor-widget elementor-widget-call-to-action\" data-id=\"0741169\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"call-to-action.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-cta\">\n\t\t\t\t\t<div class=\"elementor-cta__bg-wrapper\">\n\t\t\t\t<div class=\"elementor-cta__bg elementor-bg\" style=\"background-image: url(https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/odometry-control-ros.webp);\" role=\"img\" aria-label=\"odometry control ros\"><\/div>\n\t\t\t\t<div class=\"elementor-cta__bg-overlay\"><\/div>\n\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-cta__content\">\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<h2 class=\"elementor-cta__title elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tWant to learn more?\t\t\t\t\t<\/h2>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__description elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tYou can find a detailed explaination of gazebo in  the \"Self Driving and ROS - Learn by Doing! Odometry &amp; Control\" course\t\t\t\t\t<\/div>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__button-wrapper elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t<a class=\"elementor-cta__button elementor-button elementor-size-\" href=\"\" target=\"_blank\">\n\t\t\t\t\t\tEnroll Now\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-ribbon elementor-ribbon-right\">\n\t\t\t\t<div class=\"elementor-ribbon-inner\">\n\t\t\t\t\tDISCOUNT\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-180426a elementor-widget elementor-widget-spacer\" data-id=\"180426a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>","protected":false},"excerpt":{"rendered":"<p>Controlling a simulated robot as if it were real \u2014 that\u2019s the power of ROS Control. In this guide, we\u2019ll see how to properly configure the URDF model so ROS can &#8220;command&#8221; the simulated motors of our BumperBot. \ud83d\ude80 Introduction: What Is ROS Control and Why Use It? Imagine building a robot with real motors, [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":2579,"comment_status":"closed","ping_status":"open","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[47,176,43],"tags":[126,133,66,74,131,132,141,98,100,75,71,107,72,130],"class_list":["post-2572","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-linux","category-ros","category-tutorials","tag-base","tag-chatter","tag-learn-by-doing","tag-linux","tag-node","tag-publisher","tag-py","tag-python","tag-robot","tag-robotics","tag-ros","tag-ros-2","tag-ros2","tag-topic"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>How to Integrate ROS Control into a Simulated Robot in Gazebo - Learn by Doing!<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/learnbydoing.dev\/es\/how-to-integrate-ros-control-into-a-simulated-robot-in-gazebo\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Installing ROS 2 Jazzy on Ubuntu 24.04: Step-by-Step Tutorial\" \/>\n<meta property=\"og:description\" content=\"Controlling a simulated robot as if it were real \u2014 that\u2019s the power of ROS Control. In this guide, we\u2019ll see how to properly configure the URDF model so ROS can &#8220;command&#8221; the simulated motors of our BumperBot. \ud83d\ude80 Introduction: What Is ROS Control and Why Use It? 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