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.
Follow these steps to install and run the project locally.
Make sure you have the following software installed if you are running on the local machine:
Before build this package configure environment variable for mujoco directory.
export MUJOCO_DIR=/PATH/TO/MUJOCO/mujoco-3.0.0
You can now compile the package using the following commands.
cd mujoco_ros2_control
source /opt/ros/${ROS_DISTRO}/setup.bash
colcon build
See the documentation for usage.
Here are several potential areas for future improvement:
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Sensors: Implement F/T sensors, IMU sensors, and range sensors.
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Realistic Control: Add velocity-based and effort-based position control and effort-based velocity control to make simulation more realistic.
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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.