ros-controls · christophfroehlich · Sep 16, 2025 · Sep 16, 2025 · Sep 16, 2025 · Sep 16, 2025
diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -36,16 +36,6 @@ Controllers for Wheeled Mobile Robots
 Controllers for Manipulators and Other Robots
 *********************************************
 
-The controllers are using `common hardware interface definitions`_, and may use namespaces depending on the following command interface types:
-
-  - ``position_controllers``: ``hardware_interface::HW_IF_POSITION``
-  - ``velocity_controller``: ``hardware_interface::HW_IF_VELOCITY``
-  - ``effort_controllers``: ``hardware_interface::HW_IF_ACCELERATION``
-  - ``effort_controllers``: ``hardware_interface::HW_IF_EFFORT``
-
-.. _common hardware interface definitions: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
-
-
 .. toctree::
    :titlesonly:
 

diff --git a/doc/migration.rst b/doc/migration.rst
@@ -4,17 +4,30 @@ Migration Guides: Jazzy to Kilted
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This list summarizes important changes between Jazzy (previous) and Kilted (current) releases, where changes to user code might be necessary.
 
-GripperActionController
-*****************************
-The ``effort_controllers/GripperActionController`` and ``position_controllers/GripperActionController`` have been removed. The ``parallel_gripper_action_controller/GripperActionController`` should be used instead. `(#1652 <https://github.com/ros-controls/ros2_controllers/pull/1652>`__).
 
 diff_drive_controller
 *****************************
 * Parameters ``has_velocity_limits``, ``has_acceleration_limits``, and ``has_jerk_limits`` are removed. Instead, set the respective limits to ``.NAN``. (`#1653 <https://github.com/ros-controls/ros2_controllers/pull/1653>`_).
 
+effort_controllers
+*****************************
+  ``effort_controllers/JointGroupEffortController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``effort``. (`#1913 <https://github.com/ros-controls/ros2_controllers/pull/1913>`_).
+
+GripperActionController
+*****************************
+The ``effort_controllers/GripperActionController`` and ``position_controllers/GripperActionController`` have been removed. The ``parallel_gripper_action_controller/GripperActionController`` should be used instead. `(#1652 <https://github.com/ros-controls/ros2_controllers/pull/1652>`__).
+
 pid_controller
 *****************************
 * Parameters ``enable_feedforward`` and service ``set_feedforward_control`` are removed. Instead, set the feedforward_gain to zero or a non-zero value. (`#1553 <https://github.com/ros-controls/ros2_controllers/pull/1553>`_).
 * The legacy ``antiwindup`` boolean and integral clamp parameters ``i_clamp_max``/``i_clamp_min`` have
   been deprecated in favor of the new ``antiwindup_strategy`` parameter (`#1585 <https://github.com/ros-controls/ros2_controllers/pull/1585>`__). Choose a suitable anti-windup strategy and set the parameters accordingly.
 * PID state publisher topic changed to ``<controller_name>`` namespace and is initially turned off. It can be turned on by using  ``activate_state_publisher`` parameter. (`#1823 <https://github.com/ros-controls/ros2_controllers/pull/1823>`_).
+
+position_controllers
+*****************************
+  ``position_controllers/JointGroupPositionController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``position``. (`#1913 <https://github.com/ros-controls/ros2_controllers/pull/1913>`_).
+
+velocity_controllers
+*****************************
+  ``velocity_controllers/JointGroupVelocityController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``velocity``. (`#1913 <https://github.com/ros-controls/ros2_controllers/pull/1913>`_).
diff --git a/effort_controllers/doc/userdoc.rst b/effort_controllers/doc/userdoc.rst
@@ -12,6 +12,10 @@ The package contains the following controllers:
 effort_controllers/JointGroupEffortController
 -------------------------------------------------
 
+.. warning::
+
+  ``effort_controllers/JointGroupEffortController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``effort``.
+
 This is specialization of the :ref:`forward_command_controller <forward_command_controller_userdoc>` that works using the "effort" joint interface.
 
 

diff --git a/effort_controllers/src/joint_group_effort_controller.cpp b/effort_controllers/src/joint_group_effort_controller.cpp
@@ -29,6 +29,11 @@ JointGroupEffortController::JointGroupEffortController()
 
 controller_interface::CallbackReturn JointGroupEffortController::on_init()
 {
+  RCLCPP_WARN(
+    get_node()->get_logger(),
+    "'effort_controllers/JointGroupEffortController' is deprecated. "
+    "Use 'forward_command_controller/ForwardCommandController' instead by adding the "
+    "'interface_name' parameter and set it to 'effort'.");
   try
   {
     // Explicitly set the interface parameter declared by the forward_command_controller

diff --git a/forward_command_controller/doc/userdoc.rst b/forward_command_controller/doc/userdoc.rst
@@ -5,16 +5,16 @@
 forward_command_controller
 ==========================
 
-This is a base class implementing a feedforward controller. Specific implementations of this base class can be found in:
+A selection of controllers that forward commands of different types.
 
-* :ref:`position_controllers_userdoc`
-* :ref:`velocity_controllers_userdoc`
-* :ref:`effort_controllers_userdoc`
+forward_command_controller and multi_interface_forward_command_controller
+#########################################################################
+Both controllers forward ``std_msgs::msg::Float64MultiArray`` to a set of interfaces, which can be parameterized as follows: While ``forward_command_controller/ForwardCommandController`` only claims a single interface type per joint (``joint[i] + "/" + interface_name``), the ``forward_command_controller/MultiInterfaceForwardCommandController`` claims the combination of all interfaces specified in the ``interface_names`` parameter (``joint[i] + "/" + interface_names[j]``).
 
 Hardware interface type
 -----------------------
 
-This controller can be used for every type of command interface.
+This controller can be used for every type of command interface, not only limited to joints.
 
 
 ROS 2 interface of the controller

diff --git a/forward_command_controller/src/forward_command_controller_parameters.yaml b/forward_command_controller/src/forward_command_controller_parameters.yaml
@@ -9,7 +9,7 @@ forward_command_controller:
   }
   interface_name: {
     type: string,
-    description: "Name of the interface to command",
+    description: "Name of the interface of the joint",
     validation: {
       not_empty<>: []
     },

diff --git a/forward_command_controller/src/multi_interface_forward_command_controller_parameters.yaml b/forward_command_controller/src/multi_interface_forward_command_controller_parameters.yaml
@@ -9,7 +9,7 @@ multi_interface_forward_command_controller:
   }
   interface_names: {
     type: string_array,
-    description: "Names of the interfaces to command",
+    description: "Names of the interfaces per joint to claim",
     validation: {
       not_empty<>: []
     },

diff --git a/position_controllers/doc/userdoc.rst b/position_controllers/doc/userdoc.rst
@@ -12,6 +12,10 @@ The package contains the following controllers:
 position_controllers/JointGroupPositionController
 -------------------------------------------------
 
+.. warning::
+
+  ``position_controllers/JointGroupPositionController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``position``.
+
 This is specialization of the :ref:`forward_command_controller <forward_command_controller_userdoc>` that works using the "position" joint interface.
 
 

diff --git a/position_controllers/src/joint_group_position_controller.cpp b/position_controllers/src/joint_group_position_controller.cpp
@@ -29,6 +29,11 @@ JointGroupPositionController::JointGroupPositionController()
 
 controller_interface::CallbackReturn JointGroupPositionController::on_init()
 {
+  RCLCPP_WARN(
+    get_node()->get_logger(),
+    "'position_controllers/JointGroupPositionController' is deprecated. "
+    "Use 'forward_command_controller/ForwardCommandController' instead by adding the "
+    "'interface_name' parameter and set it to 'position'.");
   try
   {
     // Explicitly set the interface parameter declared by the forward_command_controller

diff --git a/velocity_controllers/doc/userdoc.rst b/velocity_controllers/doc/userdoc.rst
@@ -12,6 +12,10 @@ The package contains the following controllers:
 velocity_controllers/JointGroupVelocityController
 -------------------------------------------------
 
+.. warning::
+
+  ``velocity_controllers/JointGroupVelocityController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``velocity``.
+
 This is specialization of the :ref:`forward_command_controller <forward_command_controller_userdoc>` that works using the "velocity" joint interface.
 
 

diff --git a/velocity_controllers/src/joint_group_velocity_controller.cpp b/velocity_controllers/src/joint_group_velocity_controller.cpp
@@ -29,6 +29,11 @@ JointGroupVelocityController::JointGroupVelocityController()
 
 controller_interface::CallbackReturn JointGroupVelocityController::on_init()
 {
+  RCLCPP_WARN(
+    get_node()->get_logger(),
+    "'velocity_controllers/JointGroupVelocityController' is deprecated. "
+    "Use 'forward_command_controller/ForwardCommandController' instead by adding the "
+    "'interface_name' parameter and set it to 'velocity'.");
   try
   {
     // Explicitly set the interface parameter declared by the forward_command_controller