Instalación de ROS 2 y librerias

Instalación principal de ROS 2 Jazzy para Ubuntu 24.04
https://docs.ros.org/en/jazzy/index.html

Instalación de ROS 2 Control

https://control.ros.org/jazzy/doc/getting_started/getting_started.html

https://control.ros.org/jazzy/doc/ros2_control/controller_manager/doc/userdoc.html

Recomendable testear las demos

sudo apt-get install ros-$ROS_DISTRO-xacro
sudo apt-get install ros-$ROS_DISTRO-rqt*
sudo apt-get install ros-$ROS_DISTRO-joint*

mkdir -p ~/ws_dev/src
cd ~/ws_dev/src
git clone https://github.com/ros-controls/ros2_control_cmake.git
git clone https://github.com/ros-controls/ros2_control_demos.git
cd ..
colcon build

Importante leer:
https://control.ros.org/jazzy/doc/ros2_control/hardware_interface/doc/hardware_components_userdoc.html

https://design.ros2.org/articles/node_lifecycle.html