Please note that these milestones/tasks are not ordered.
| Milestones | ROS distribution | Targeted Time | Related issues, PRs |
|---|---|---|---|
| Ongoing maintenance and improvements to ros_control in ROS1 | |||
| Modernization of existing ros_control framework and controllers' code | ROS Melodic, ROS Noetic | M5 2020 | ros_control#403, ros_control#407, ros_controllers#380 |
| Support for ros_control features in ROS2 | |||
| Full ros_control features with ROS2 interfaces, ported over | ROS2 Foxy | M5 2020 | ros2_control#21, ros2_control#23, ros2_control#24, ros2_control#26, ros2_control#41, ros2_control#33 |
| Main controllers for MoveIt, navigation and Gazebo integration made available. | ROS2 Foxy | M5 2020 | ros2_control#25, ros2_controllers#9 |
| New features in ROS2 | |||
| Revise nomenclature, read-only “controllers” should be sensors. Anything declared as a sensor has to be enforced to be read-only. | ROS2 Foxy | M8 2020 | |
| Adopt ROS2 managed node concept for lifecycle handling | ROS2 Foxy | M5 2020 | ros2_control#43 |
| Integrate a new ros2_control verb into the ros2cli instead of the current CLI service interface. Examples: “ros2 control switch ...” , “ros2 control load ...” | ROS2 Foxy | M8 2020 | ros2_control#29 |
| Achieve chaining controllers through ROS2 topics | ROS2 G | M8 2020 | ros2_control#30 |
| Hard-real time guarantees | ROS2 G | M8 2020 | |
| Per-controller configurable update loop | ROS2 G | M8 2020 | ros2_control#31 |
| Common emergency stop handler | ROS2 G | M8 2020 | |
| Port all other controllers over. | ROS2 G | M8 2020 | |
| Testing and validation on different robot platforms | |||
| Real robot tests | ROS2 G | M8 2020 | |
| Tutorials with simulated robots? | ROS2 G | M8 2020 | |
| Documentation work for ROS1 and ROS2 | |||
| Improve existing ROS1 documentation on ROS wiki | ROS2 Melodic, ROS Noetic | M10 2020 | |
| ros_control’s one-stop documentation portal at https://index.ros.org/doc/ros2/. Hosts improved documentation and tutorials in a single place. Remove dangling documentation from other sources. | ROS2 G | M10 2020 | ros2_control#22 |
| Additional tutorials for developing RobotHW | ROS2 G | M10 2020 |