{"id":5098,"date":"2026-01-10T17:53:35","date_gmt":"2026-01-10T17:53:35","guid":{"rendered":"https:\/\/learnbydoing.dev\/?p=5098"},"modified":"2026-01-10T21:46:54","modified_gmt":"2026-01-10T21:46:54","slug":"configuring-and-launching-controllers-in-ros-2-with-ros2_control","status":"publish","type":"post","link":"https:\/\/learnbydoing.dev\/configuring-and-launching-controllers-in-ros-2-with-ros2_control\/","title":{"rendered":"Configuring and Launching Controllers in ROS 2 with ros2_control"},"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\tROS 2<\/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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    When a robotic system starts moving real or simulated actuators, it enters one of the most delicate phases of its entire architecture: control. In ROS 2, this responsibility is handled by ros2_control<\/strong>, a framework designed to manage the interaction between high-level software and hardware in a modular, extensible, and safe way.

    <\/p>

    The goal of ros2_control is to clearly separate hardware description<\/strong>, controller configuration<\/strong>, and runtime activation<\/strong>, avoiding rigid or hard-to-maintain solutions. In this article, we walk through the complete operational flow: configuration using YAML, controller startup, and runtime interaction through the Command Line Interface.<\/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\udd14 Why ros2_control is central to modern robotic systems<\/strong><\/h3>

    ros2_control was created to solve a very concrete problem: how to manage the control of different robots, with different hardware, without rewriting high-level logic every time. The framework introduces a clear separation between hardware interfaces<\/strong> and controllers<\/strong>, allowing one component to be replaced without affecting the rest of the system.

    <\/p>

    This approach is essential when working with multiple robots, simulation and real hardware, or when transitioning from a test platform to an industrial setup. Configuration is no longer hard-coded inside nodes but becomes an external, editable, and versionable description of the system.<\/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\udee0\ufe0f Configuring controllers using YAML<\/strong><\/h3>

    As systems grow in complexity, passing parameters individually through the CLI is no longer sustainable. This is where YAML configuration files<\/strong> become essential, allowing the entire control setup to be described in a structured and readable way.

    <\/p>

    In a ros2_control-based system, the YAML configuration defines the controller manager<\/strong>, the controllers to be loaded, and their main properties. This enables the entire control stack to be initialized consistently with a single configuration.<\/p>

    <\/code><\/p>

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    <\/> Complete Code<\/strong><\/h3>

    <\/code><\/p>

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    \n\t\t\t\t\n\t\t\t\t\tcontroller_manager:\r\n  ros__parameters:\r\n    update_rate: 100\r\n\r\n    joint_state_broadcaster:\r\n      type: joint_state_broadcaster\/JointStateBroadcaster\r\n\r\n    diff_drive_controller:\r\n      type: diff_drive_controller\/DiffDriveController\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-961c2f7 elementor-widget elementor-widget-text-editor\" data-id=\"961c2f7\" 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=\"2586\" data-end=\"2639\"><strong>\ud83e\udde9 Breaking Down the Code \u2013 YAML Configuration<\/strong><\/h3><p data-start=\"1530\" data-end=\"1656\"><code data-start=\"1690\" data-end=\"1695\"><\/code><\/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-635f0ee elementor-widget elementor-widget-code-highlight\" data-id=\"635f0ee\" 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>controller_manager:\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-424d237 elementor-widget elementor-widget-text-editor\" data-id=\"424d237\" 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<p data-start=\"4742\" data-end=\"4808\">This key identifies the <strong data-start=\"2749\" data-end=\"2771\">controller manager<\/strong>, the core node of ros2_control. It is responsible for loading, managing, and coordinating all controllers in the system.<\/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-34e2893 elementor-widget elementor-widget-code-highlight\" data-id=\"34e2893\" 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>ros__parameters:\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-0ed0bb9 elementor-widget elementor-widget-text-editor\" data-id=\"0ed0bb9\" 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<p data-start=\"3271\" data-end=\"3402\">All runtime parameters for the controller manager and its controllers are declared inside this section. ROS 2 uses this namespace to clearly distinguish node parameters.<\/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-fbbfe30 elementor-widget elementor-widget-code-highlight\" data-id=\"fbbfe30\" 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>update_rate: 100\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-dc28add elementor-widget elementor-widget-text-editor\" data-id=\"dc28add\" 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<p data-start=\"4153\" data-end=\"4283\">This parameter defines the control loop frequency in hertz. A value of 100 Hz is typical for mobile robots, providing a good balance between responsiveness and computational load.<\/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-7da3562 elementor-widget elementor-widget-code-highlight\" data-id=\"7da3562\" 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>joint_state_broadcaster:\r\n  type: joint_state_broadcaster\/JointStateBroadcaster\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-a73b77a elementor-widget elementor-widget-text-editor\" data-id=\"a73b77a\" 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<p>The <strong data-start=\"3402\" data-end=\"3429\">joint_state_broadcaster<\/strong> publishes the state of the robot\u2019s joints. Without it, tools such as RViz, TF, and diagnostic nodes would not have access to the robot\u2019s kinematic information.<\/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-9790003 elementor-widget elementor-widget-code-highlight\" data-id=\"9790003\" 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>diff_drive_controller:\r\n  type: diff_drive_controller\/DiffDriveController\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-09ad431 elementor-widget elementor-widget-text-editor\" data-id=\"09ad431\" 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<p data-start=\"3677\" data-end=\"3812\">This controller implements the kinematic model of a differential-drive robot, converting velocity commands into coherent wheel motions.<\/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-37d278a elementor-widget elementor-widget-text-editor\" data-id=\"37d278a\" 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=\"3819\" data-end=\"3871\"><strong>\ud83d\ude80 Launching ros2_control and loading controllers<\/strong><\/h3><p data-start=\"3873\" data-end=\"4155\">Once the configuration is defined, the controller manager is started as a ROS 2 node. Importantly, controllers are typically <strong data-start=\"3998\" data-end=\"4040\">loaded but not activated automatically<\/strong>. This design choice allows precise control over system initialization and reduces the risk of unexpected behavior.<\/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-a993aad elementor-widget elementor-widget-text-editor\" data-id=\"a993aad\" 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=\"4162\" data-end=\"4208\">\ud83d\udec3 <strong>Runtime interaction via ros2_control CLI<\/strong><\/h3><p data-start=\"4210\" data-end=\"4420\">One of the major strengths of ros2_control is the ability to manage the control system <strong data-start=\"4297\" data-end=\"4311\">at runtime<\/strong>, without restarting the robot or the software. This is crucial during testing, debugging, and commissioning.<\/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-4e8e9d7 elementor-widget elementor-widget-text-editor\" data-id=\"4e8e9d7\" 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=\"2521\" data-end=\"2572\"><strong data-start=\"2207\" data-end=\"2224\">&lt;\/&gt; Complete Code \u2013 ros2_control CLI Commands<\/strong><\/h3><p data-start=\"1530\" data-end=\"1656\"><code data-start=\"1690\" data-end=\"1695\"><\/code><\/p><p data-start=\"1530\" data-end=\"1656\"><code data-start=\"1690\" data-end=\"1695\"><\/code><\/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-77d11f3 elementor-widget elementor-widget-code-highlight\" data-id=\"77d11f3\" 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>-ros2 control list_controllers\r\n\r\n-ros2 control load_controller diff_drive_controller\r\n\r\n-ros2 control set_controller_state diff_drive_controller active\r\n\r\n-ros2 control set_controller_state diff_drive_controller inactive<\/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-16e426a elementor-widget elementor-widget-text-editor\" data-id=\"16e426a\" 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=\"4918\" data-end=\"4976\"><strong>\ud83e\udde9 Code Breakdown \u2013 CLI Commands<\/strong><\/h3>\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-bc70a6a elementor-widget elementor-widget-code-highlight\" data-id=\"bc70a6a\" 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>ros2 control list_controllers\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-6d5a147 elementor-widget elementor-widget-text-editor\" data-id=\"6d5a147\" 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<p data-start=\"1569\" data-end=\"1754\">This command queries the controller manager and returns a list of all controllers along with their current states. It is the first step to understand the system status.<\/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-ed33290 elementor-widget elementor-widget-code-highlight\" data-id=\"ed33290\" 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>ros2 control load_controller diff_drive_controller\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-76f6a8b elementor-widget elementor-widget-text-editor\" data-id=\"76f6a8b\" 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<p data-start=\"1569\" data-end=\"1754\">Here, the specified controller is loaded and initialized but not yet activated. This allows configuration checks before enabling actual control.<\/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-ca6dc74 elementor-widget elementor-widget-code-highlight\" data-id=\"ca6dc74\" 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>ros2 control set_controller_state diff_drive_controller active\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-d4d05e7 elementor-widget elementor-widget-text-editor\" data-id=\"d4d05e7\" 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<p data-start=\"1569\" data-end=\"1754\">This command transitions the controller into the <em data-start=\"5329\" data-end=\"5337\">active<\/em> state. From this moment on, it starts receiving commands and interacting with hardware.<\/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-83cfd7f elementor-widget elementor-widget-code-highlight\" data-id=\"83cfd7f\" 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>ros2 control set_controller_state diff_drive_controller inactive\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-371ee39 elementor-widget elementor-widget-text-editor\" data-id=\"371ee39\" 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<p data-start=\"5505\" data-end=\"5626\">This disables the controller without unloading it, which is useful during testing or when temporarily suspending control.<\/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-a4d5b58 elementor-widget elementor-widget-text-editor\" data-id=\"a4d5b58\" 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=\"5633\" data-end=\"5673\"><strong>\ud83d\udc8e The complete ros2_control workflow<\/strong><\/h3><p data-start=\"5675\" data-end=\"5978\">Putting everything together, the workflow becomes clear: the system is first described declaratively, then the controller manager is started, controllers are loaded, and finally activated when needed. This separation of responsibilities results in a modular, robust, and extensible control architecture.<\/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-078e0ac elementor-widget elementor-widget-text-editor\" data-id=\"078e0ac\" 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=\"8212\" data-end=\"8228\"><strong>\ud83c\udfaf Conclusion<\/strong><\/h3><p data-start=\"6000\" data-end=\"6263\">In this article, you explored how a ros2_control-based system is configured, how controllers are defined and launched, and how they are managed at runtime through the CLI. Each step plays a precise role in making robotic control systems reliable and maintainable.<\/p><p data-start=\"6265\" data-end=\"6483\">In real applications, additional complexity arises: heterogeneous hardware, custom controllers, navigation integration, and fault handling. Addressing these challenges requires deeper understanding and guided practice.<\/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-e8bdddd 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=\"e8bdddd\" 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\/plan_navigation.webp);\" role=\"img\" aria-label=\"plan_navigation\"><\/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\tIf you want to learn how to design and build professional robotic systems, check out our \"Self Driving and ROS 2 - 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>\n\t\t\t\t<\/div>","protected":false},"excerpt":{"rendered":"<p>When a robotic system starts moving real or simulated actuators, it enters one of the most delicate phases of its entire architecture: control. In ROS 2, this responsibility is handled by ros2_control, a framework designed to manage the interaction between high-level software and hardware in a modular, extensible, and safe way. The goal of ros2_control [&hellip;]<\/p>\n","protected":false},"author":5,"featured_media":5077,"comment_status":"closed","ping_status":"open","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[45,43],"tags":[328,347,381,349,179,66,74,96,110,343,396,348,296,402,371,379,71,107,383,382,386,374,377,401,398,397,403,393,404,400,399],"class_list":["post-5098","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ros-2","category-tutorials","tag-antonio-brandi","tag-brandi","tag-c-robotics","tag-costmaps","tag-lbd","tag-learn-by-doing","tag-linux","tag-nav2","tag-navigation","tag-obstacle","tag-os2_control","tag-pc","tag-raspberry","tag-robot-controllers-ros-2","tag-robot-modeling-ros-2","tag-robotics-programming","tag-ros","tag-ros-2","tag-ros-2-advanced-tutorial","tag-ros-2-beginner-tutorial","tag-ros-2-best-practices","tag-ros-2-c-tutorial","tag-ros-2-cli-tools","tag-ros-2-control-cli","tag-ros-2-control-framework","tag-ros-2-controllers","tag-ros-2-differential-drive","tag-ros-2-professional-robotics","tag-ros-2-robotics-control","tag-ros-2-yaml-configuration","tag-ros2_control-tutorial"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - 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