# ROS 2 컨트롤 — 배포판·컨테이너 선택 안내 저자: ros-controls 기여자 원문: https://github.com/ros-controls/ros2_control/blob/e4b82346084991f01bacad9d4e0d2fa6555d3454/README.md 이용 조건: Apache-2.0 — 동봉 LICENSE.txt를 함께 보존하세요. ## 번역 범위 로봇 제어 프레임워크 ros2_control의 README 소개·기여·Docker 안내를 번역하고, 지원 배포판과 문서의 대응 관계를 정리했습니다. 실시간으로 변하는 CI 배지와 개별 패키지 빌드 결과는 포함하지 않습니다. ## 패키지 소개·기여 안내 번역 이 패키지는 ros2_control 프레임워크의 일부입니다. 자세한 내용은 https://control.ros.org/ 문서를 확인하세요. 오픈소스 프로젝트는 배경이나 경험에 관계없이 기여자를 환영합니다. 공개된 풀 리퀘스트(PR)를 골라 검토하거나 새 기여를 만들 수 있습니다. 처음 참여한다면 https://control.ros.org/rolling/doc/contributing/contributing.html 의 시작 안내를 읽으세요. 프로젝트는 첫 기여를 돕겠다고 안내합니다. ## 배포판과 소스 브랜치 README 표에서 Rolling과 Lyrical은 master 브랜치, Kilted는 kilted, Jazzy는 jazzy, Humble은 humble 브랜치를 사용합니다. 설치한 ROS 2 배포판과 같은 문서·브랜치를 선택하세요. master를 모든 안정 배포판의 대체물로 사용해도 된다는 뜻은 아닙니다. ## 문서·API 참고 주소 Rolling/Lyrical: https://control.ros.org/master/index.html 및 https://control.ros.org/master/doc/api/index.html . Kilted: https://control.ros.org/kilted/index.html 및 https://control.ros.org/kilted/doc/api/index.html . Jazzy: https://control.ros.org/jazzy/index.html 및 https://control.ros.org/jazzy/doc/api/index.html . Humble: https://control.ros.org/humble/index.html 및 https://control.ros.org/humble/doc/api/index.html . ## Docker 이미지 안내 번역 최신 릴리스가 포함된 Docker 이미지가 공개돼 있습니다. 상세 설명은 저장소의 .docker 폴더에서 확인할 수 있습니다. 이미지는 ghcr.io/ros-controls/ros2_control_release 또는 ghcr.io/ros-controls/ros2_control_source 태그로 가져올 수 있습니다. 이미지의 호스트·장치 접근 설정과 실제 로봇 제어 조건은 별도로 확인해야 합니다. ## 감사 표기 번역 프로젝트는 여러 기업과 기관의 주요 기여를 받았습니다. 기여 기관은 https://control.ros.org/rolling/doc/acknowledgements/acknowledgements.html 에 공개돼 있습니다. 단일 국가의 제조사 제품으로 분류하지 않았습니다. ## 버전·날짜·이용 조건 2026-10-03의 고정 커밋 e4b82346084991f01bacad9d4e0d2fa6555d3454를 기준으로 2026년 10월 5일 번역·편집했습니다. 표시 날짜는 소스 커밋 날짜이며 제품 출시일이 아닙니다. Apache-2.0 조건에 따라 원문·저작권 고지·면책 조건을 함께 제공합니다. 한국어 파일은 Robotnode가 번역·편집한 변경 문서입니다. 코드와 명령은 원문 안내이며 실제 장치에서 실행 검증하지 않았습니다. ## Original copyright and license notice Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. Definitions. "License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. "Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity. "You" (or "Your") shall mean an individual or Legal Entity exercising permissions granted by this License. "Source" form shall mean the preferred form for making modifications, including but not limited to software source code, documentation source, and configuration files. "Object" form shall mean any form resulting from mechanical transformation or translation of a Source form, including but not limited to compiled object code, generated documentation, and conversions to other media types. "Work" shall mean the work of authorship, whether in Source or Object form, made available under the License, as indicated by a copyright notice that is included in or attached to the work (an example is provided in the Appendix below). "Derivative Works" shall mean any work, whether in Source or Object form, that is based on (or derived from) the Work and for which the editorial revisions, annotations, elaborations, or other modifications represent, as a whole, an original work of authorship. For the purposes of this License, Derivative Works shall not include works that remain separable from, or merely link (or bind by name) to the interfaces of, the Work and Derivative Works thereof. "Contribution" shall mean any work of authorship, including the original version of the Work and any modifications or additions to that Work or Derivative Works thereof, that is intentionally submitted to Licensor for inclusion in the Work by the copyright owner or by an individual or Legal Entity authorized to submit on behalf of the copyright owner. For the purposes of this definition, "submitted" means any form of electronic, verbal, or written communication sent to the Licensor or its representatives, including but not limited to communication on electronic mailing lists, source code control systems, and issue tracking systems that are managed by, or on behalf of, the Licensor for the purpose of discussing and improving the Work, but excluding communication that is conspicuously marked or otherwise designated in writing by the copyright owner as "Not a Contribution." "Contributor" shall mean Licensor and any individual or Legal Entity on behalf of whom a Contribution has been received by Licensor and subsequently incorporated within the Work. 2. Grant of Copyright License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable copyright license to reproduce, prepare Derivative Works of, publicly display, publicly perform, sublicense, and distribute the Work and such Derivative Works in Source or Object form. 3. Grant of Patent License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Work, where such license applies only to those patent claims licensable by such Contributor that are necessarily infringed by their Contribution(s) alone or by combination of their Contribution(s) with the Work to which such Contribution(s) was submitted. If You institute patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Work or a Contribution incorporated within the Work constitutes direct or contributory patent infringement, then any patent licenses granted to You under this License for that Work shall terminate as of the date such litigation is filed. 4. Redistribution. You may reproduce and distribute copies of the Work or Derivative Works thereof in any medium, with or without modifications, and in Source or Object form, provided that You meet the following conditions: (a) You must give any other recipients of the Work or Derivative Works a copy of this License; and (b) You must cause any modified files to carry prominent notices stating that You changed the files; and (c) You must retain, in the Source form of any Derivative Works that You distribute, all copyright, patent, trademark, and attribution notices from the Source form of the Work, excluding those notices that do not pertain to any part of the Derivative Works; and (d) If the Work includes a "NOTICE" text file as part of its distribution, then any Derivative Works that You distribute must include a readable copy of the attribution notices contained within such NOTICE file, excluding those notices that do not pertain to any part of the Derivative Works, in at least one of the following places: within a NOTICE text file distributed as part of the Derivative Works; within the Source form or documentation, if provided along with the Derivative Works; or, within a display generated by the Derivative Works, if and wherever such third-party notices normally appear. The contents of the NOTICE file are for informational purposes only and do not modify the License. You may add Your own attribution notices within Derivative Works that You distribute, alongside or as an addendum to the NOTICE text from the Work, provided that such additional attribution notices cannot be construed as modifying the License. You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Works as a whole, provided Your use, reproduction, and distribution of the Work otherwise complies with the conditions stated in this License. 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. 6. Trademarks. This License does not grant permission to use the trade names, trademarks, service marks, or product names of the Licensor, except as required for reasonable and customary use in describing the origin of the Work and reproducing the content of the NOTICE file. 7. Disclaimer of Warranty. Unless required by applicable law or agreed to in writing, Licensor provides the Work (and each Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated with Your exercise of permissions under this License. 8. Limitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall any Contributor be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the Work (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages. 9. Accepting Warranty or Additional Liability. While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability. END OF TERMS AND CONDITIONS APPENDIX: How to apply the Apache License to your work. To apply the Apache License to your work, attach the following boilerplate notice, with the fields enclosed by brackets "[]" replaced with your own identifying information. (Don't include the brackets!) The text should be enclosed in the appropriate comment syntax for the file format. We also recommend that a file or class name and description of purpose be included on the same "printed page" as the copyright notice for easier identification within third-party archives. Copyright [yyyy] [name of copyright owner] Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.