ros_control -> ros2_control

Author: Felix Exner

ur_controllers/README.md

@@ -1,6 +1,6 @@
 # ur_controllers
 
-This package contains controllers and hardware interface for `ros_control` that are special to the UR
+This package contains controllers and hardware interface for `ros2_control` that are special to the UR
 robot family. Currently this contains
 
   * A **speed_scaling_interface** to read the value of the current speed scaling into controllers.

ur_controllers/doc/index.rst

@@ -1,7 +1,7 @@
 ur_controllers
 ==============
 
-This package contains controllers and hardware interface for ``ros_control`` that are special to the UR
+This package contains controllers and hardware interface for ``ros2_controllers`` that are special to the UR
 robot family. Currently this contains:
 
 
@@ -15,10 +15,10 @@ robot family. Currently this contains:
 About this package
 ------------------
 
-This package contains controllers not being available in the default ``ros_control`` set. They are
-created to support more features offered by the UR robot family. Any of these controllers are
+This package contains controllers not being available in the default ``ros2_controllers`` set. They are
+created to support more features offered by the UR robot family. Some of these controllers are
 example implementations for certain features and are intended to be generalized and merged
-into the default ``ros_control`` controller set at some future point.
+into the default ``ros2_controllers`` controller set at some future point.
 
 Controller description
 ----------------------

ur_robot_driver/README.md

@@ -48,8 +48,8 @@ For using the **tool communication interface** on e-Series robots, a `socat` scr
 forward the robot's tool communication interface to a local device on the ROS PC. See [the tool
 communication setup guide](doc/setup_tool_communication.rst) for details.
 
-This driver is using [ROS-Control](https://wiki.ros.org/ros_control) for any control statements.
-Therefore, it can be used with all position-based controllers available in ROS-Control. However, we
+This driver is using [`ros2_control`](https://control.ros.org) for any control statements.
+Therefore, it can be used with all position-based controllers available in `ros2_control`. However, we
 recommend using the controllers from the `ur_controllers` package. See it's
 [documentation](../ur_controllers/README.md) for details. **Note: Speed scaling support will only be
 available using the controllers from `ur_controllers`**