Welcome to the documentation for control_msgs
===============================================

control_msgs contains base messages and actions useful for controlling robots. It provides representations for controller setpoints and joint and cartesian trajectories.

For more information of the ros2_control framework see `control.ros.org <https://control.ros.org/>`__.

API documentation
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.. toctree::
   :maxdepth: 2

   Action Definitions <generated/action_definitions>
   Message Definitions <generated/message_definitions>
   Service Definitions <generated/service_definitions>


Indices and Search
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* :ref:`genindex`
* :ref:`search`