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sangteak601 / mujoco_ros2_control

MIT License
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mujoco_ros2_control

License

Overview

This repository contains a ROS2 control package for Mujoco simulation, offering the MujocoSystem plugin to integrate ros2_control with Mujoco. Additionally, it includes a node responsible for initializing the plugin, Mujoco rendering, and the simulation.

Installation Guide

Follow these steps to install and run the project locally.

Prerequisites

Make sure you have the following software installed if you are running on the local machine:

Package Install

Before build this package configure environment variable for mujoco directory.

export MUJOCO_DIR=/PATH/TO/MUJOCO/mujoco-3.x.x

You can now compile the package using the following commands.

cd mujoco_ros2_control
source /opt/ros/${ROS_DISTRO}/setup.bash
colcon build

Usage

See the documentation for usage.

Future Work

Here are several potential areas for future improvement:

  1. Sensors: Implement IMU sensors, and range sensors.

  2. Loading Model From URDF: Implement direct loading of models from URDF, eliminating the need to convert URDF files to XML.

Feel free to suggest ideas for new features or improvements.