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Kontrol'Em — state-space control for ROS 2
Kontrol'Em — state-space control for ROS 2

Start here

  • The big ideas, in plain words
  • Tutorials
    • Tutorial 1 — Set up and see the robot
    • Tutorial 2 — Design your first controller
    • Tutorial 3 — Read the response
    • Tutorial 4 — Make it balance in simulation
    • Tutorial 5 — Use your own robot
  • Quickstart

Concepts

  • Architecture
  • The RobotTrajectory format
  • Extending the framework

Package guides

  • urdf_state_space — URDF → linear plant
  • state_space_control — synthesis toolbox
  • state_space_setup_assistant — the web wizard
  • state_space_response_viz — RViz playback
  • kontrolem_example_robots — example URDFs

Runtime & deployment

  • Runtime & deployment
    • Getting started
    • Export contract — <name>_ros2_control.yaml
    • Controllers
      • lqr_controller
      • lqg_controller
      • hinf_controller
    • Gazebo Fortress physics validation
    • Isaac Sim physics validation

Reference

  • API reference
    • urdf_state_space
    • state_space_control
    • state_space_setup_assistant
    • state_space_response_viz
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