Understanding the ros2_control framework architecture

Considering the packages described in the previous section, the overall ros2_control framework architecture is depicted in Figure 6.1 and the main elements are detailed in the following list:

• Controller Manager: In the ros2_control framework, the Controller Manager serves as the primary user entry point, connecting controllers to hardware-abstraction layers via ROS services. Implemented as a node without an internal executor, it relies on an external executor that manages callbacks, timing, and control loops for the ROS node. The Controller Manager’s responsibilities include managing controllers—loading, activating, deactivating, and unloading them—and interfacing with hardware components through the Resource Manager. It matches required and provided interfaces and reports conflicts, ensuring a smooth operation within the ROS control ecosystem.
• Resource Manager: The Resource Manager coordinates...