https://github.com/rxdu/mujoco_sim_ros2

Mujoco simulate app with ROS2 integration.
https://github.com/rxdu/mujoco_sim_ros2

jazzy mujoco ros2 ros2control

Last synced: 5 months ago
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Mujoco simulate app with ROS2 integration.

• Host: GitHub
• URL: https://github.com/rxdu/mujoco_sim_ros2
• Owner: rxdu
• Created: 2025-01-22T14:04:54.000Z (over 1 year ago)
• Default Branch: devel
• Last Pushed: 2025-04-23T13:50:08.000Z (about 1 year ago)
• Last Synced: 2025-04-23T14:40:58.944Z (about 1 year ago)
• Topics: jazzy, mujoco, ros2, ros2control
• Language: C++
• Homepage:
• Size: 213 KB
• Stars: 5
• Watchers: 1
• Forks: 3
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Mujoco Simulate App with ROS2 Integration

![CI](https://github.com/rxdu/mujoco_sim_ros2/actions/workflows/default.yaml/badge.svg)

This package utilizes the [pluginlib](https://github.com/ros/pluginlib) to make the [`simulate`](https://github.com/google-deepmind/mujoco/tree/main/simulate) app from mujoco easily extendable. With this plugin support, [mujoco_ros2_control](https://github.com/rxdu/mujoco_ros2_control) is integrated to enable a flexible control interface of the simulated robot and sensors with the ros2_control framework. You can use this package together with the [mujoco_ros2_control](https://github.com/rxdu/mujoco_ros2_control) package to get a similar setup as the [gz_ros2_control](https://github.com/ros-controls/gz_ros2_control) package for Gazebo.

The following environment and software versions are supported and regularly tested:

* Ubuntu 24.04

* ROS2 Jazzy

* Mujoco 3.3.0

Notes on design and maintenance considerations of this package:

* `simulate` provides a good out-of-box user experience and is sufficient for most applications. Thus, I try to avoid re-inventing the wheels (i.e. maintaining a different setup of the simulation loop and GUI).

* It's a lot easier to maintain a ROS-native version of the `simulate` app outside of the `mujoco` package. Minimum changes are applied (mainly the plugin support) to the original app and in general it doesn't require a strict version match with the main library.

* Future changes in the ROS part will be applied at the top (newest) of the git commit history. In case of a code sync of the `simulate` app, a rebase will be performed at the bottom (oldest) of the commit history. This strategy makes it easy to keep `simulate` up-to-date but the rebase will rewrite the git history. 

## Build the packages

It's recommended to clone and build the `mujoco_demo_robot` package to get a working example of the simulation setup.

The demo robot model `test_cart.xml` is defined in `mujoco_ros2_control` and the `mujoco_demo_robot` package

demonstrates how to start the simulation as well as the ros2 controllers.

```bash

cd /src

git clone -b 3.3.0 https://github.com/google-deepmind/mujoco.git

git clone https://github.com/rxdu/mujoco_sim_ros2.git

git clone https://github.com/rxdu/mujoco_ros2_control.git

git clone https://github.com/rxdu/mujoco_demo_robot.git

cd 

colcon build --symlink-install

```

Now you can start the simulation with the demo robot.

```bash

ros2 launch mujoco_demo_robot cart_effort.launch.py

```

![start_simulator](docs/cart_effort.png)

You can check the ros2_control setup by listing available hardware and controllers:

![controllers](docs/controllers.png)

![hardware_interaces](docs/hardware_interface.png)

You can test the controller by sending a command to the effort controller:

```bash

ros2 run mujoco_ros2_control_demos example_effort

```

![test_effort_control](docs/test_effort_control.gif)