:github_url: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/doc/index.rst

.. _ros2_control_framework:

#################
ros2_control
#################

This is the documentation of the ros2_control framework core.

`GitHub Repository <https://github.com/ros-controls/ros2_control>`_

=================
API Documentation
=================

API documentation is parsed by doxygen and can be found `here <../../api/index.html>`_

========
Concepts
========

.. toctree::
   :titlesonly:

   Controller Manager <../controller_manager/doc/userdoc.rst>
   Controller Chaining / Cascade Control <../controller_manager/doc/controller_chaining.rst>
   Joint Kinematics <../hardware_interface/doc/joints_userdoc.rst>
   Joint Limiting <../hardware_interface/doc/joint_limiting.rst>
   Hardware Components <../hardware_interface/doc/hardware_components_userdoc.rst>
   Mock Components <../hardware_interface/doc/mock_components_userdoc.rst>

=====================================
Guidelines and Best Practices
=====================================

.. toctree::
   :titlesonly:

   Debugging the Controller Manager and Plugins <debugging.rst>
   Introspecting Controllers and Hardware Components <introspection.rst>