# Control via ROS 2

!!! info "Work in progress"
    Detailed instructions for control through ROS 2 topics and action servers are being prepared.

This method sends commands directly to ROS 2 using CLI tools (`ros2 topic pub`, `ros2 action send_goal`) or custom ROS 2 nodes written in Python or C++.

## Additional resources

- [ROS 2 Jazzy documentation](https://docs.ros.org/en/jazzy/index.html) — official documentation for topics, services, action servers, and node development
- [MATLAB Robotics System Toolbox](https://www.mathworks.com/help/ros/index.html?s_tid=CRUX_lftnav) — control the robot through ROS 2 from MATLAB