ros_control has not been fully ported to ROS2. A simplified implementation is available since ROS2 Bouncy but there is strong demand for a full framework or for an extended version of ros_control for future ROS2 releases. This project delivers a complete version of ros_control in ROS2, which is essential for having a standard control interface for robots supporting ROS2. It enables higher-level libraries like play_motion and MoveIt! to work out-of-the-shelf and offers a simple way to robot developers and manufacturers to create abstraction layers so that users can control with the same interfaces a real robot and its simulated version.