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 <div class="textblock"><p><a class="anchor" id="md_README"></a> <a href="https://github.com/ARC-OPT/wbc/actions/workflows/build_and_test_ubuntu20.04.yml"><img src="https://github.com/ARC-OPT/wbc/actions/workflows/build_and_test_ubuntu20.04.yml/badge.svg" alt="Ubuntu 20.04" style="pointer-events: none;" class="inline"/></a> <a href="https://github.com/ARC-OPT/wbc/actions/workflows/build_and_test_ubuntu22.04.yml"><img src="https://github.com/ARC-OPT/wbc/actions/workflows/build_and_test_ubuntu22.04.yml/badge.svg" alt="Ubuntu 22.04" style="pointer-events: none;" class="inline"/></a></p>
 <h1><a class="anchor" id="autotoc_md0"></a>
 WBC - Whole-Body Control</h1>
-<p><a href="https://arc-opt.github.io/wbc/index.html">Code API</a> | <a href="https://arc-opt.github.io/Documentation/">Full Documentation</a> | <a href="https://arc-opt.github.io/Documentation/publications/icra_2022/index.html">Scientific Paper</a></p>
+<p><a href="https://arc-opt.github.io/wbc/index.html">Code API</a> | <a href="https://arc-opt.github.io/Documentation/">Full Documentation</a> | <a href="https://arc-opt.github.io/Documentation/publications/icra_2022/index.html">Scientific Paper</a> | <a href="https://github.com/ARC-OPT/wbc_ros">ROS 2 Interface</a></p>
 <p><img src="doc/images/wbc_principle.svg" alt="" style="pointer-events: none;" width="600" class="inline"/></p>
 <p>WBC is C++ library for optimization-based control of redundant robots. The idea of WBC is to describe a control problem as costs and constraints of an optimization problem (typically a quadratic program or QP) and design a set of feedback controllers around it. The QP minimizes the control errors, trading off the different objectives and produces a joint space command on velocity, acceleration or torque level, which is applied to the robot actuators. WBC is meant for</p><ul>
 <li>Controlling redundant robots, particularly floating base systems like humanoids or quadrupeds</li>