We started working on a central place to host documentation for ros2_control.
It is in no way close to final yet but it is already in a state where the community could benefit from it.
This does not mean there won’t be package-level documentation! In fact, we are aiming for a solution where documentation lives in the relevant packages (so feature and documentation can arrive in the same PR) and they are assembled to make the page below:
https://ros-controls.github.io/control.ros.org/
If you have any suggestions/requests please post those here, or as a PR against the repo.
Best,
Your friendly ros_control team