MuJoCo-ROS2 Interface

Note

This project is a work-in-progress, so new features will be added slowly. Feel free to contribute your own improvements.

This class establishes communication between a MuJoCo simulation and ROS2.

It publishes a sensor_msgs::msg::JointState topic for you to use, and allows commands to the joints via a std_msgs::msg::Float64MultiArray topic:

It can run in POSITION, VELOCITY, or TORQUE mode which may be set via the config and/or launch file(s).

Tip

You can download MuJoCo robot models here.

• Features
• Dependencies
• Installation
  • Prerequisites
  • Building the Project
  • Usage
  • Launching the Interface
• Contributing
• License

Features

• Launches a MuJoCo simulation.
• Creates a ROS2 node for communication.
• Publishes joint state information over ROS2.
• Provides real-time visualization of the robot and its environment.
• Allows manual interaction with the simulation.

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Dependencies

• ROS2 (Humble Hawksbill or later)
• MuJoCo
• GLFW
• Standard C++ libraries

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Installation

Prerequisites

Ensure that you have ROS2 and MuJoCo installed on your system.

1. Install ROS2: Follow the ROS2 installation guide for your operating system.

2. Install MuJoCo: Download and install MuJoCo from the official website.

3. Install GLFW:

   sudo apt-get install libglfw3-dev

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Building the Project

Clone the repository:

git clone https://github.com/Woolfrey/interface_mujoco_ros2
cd interface_mujoco_ros2

Build the package:

colcon build

Source the ROS2 workspace:

source install/setup.bash

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Usage

Launching the Interface

There are 2 different control modes currently available:

To run velocity control, you can launch:

ros2 launch mujoco_interface velocity_mode.py

This requires that the topic /joint_commands contains an array of velocites (in rad/s).

To run torque control, you can launch:

ros2 launch mujoco_interface torque_mode.py

This requires that the topic /joint_commands contains an array of torques (Nm).

Tip

In torque mode, gravity and Coriolis torques are automatically compensated for.

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Contributing

Contributions are welcome! Please fork the repository and submit pull requests.

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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License

Distributed under the GNU General Public License. See LICENSE for more information. Contact

Jon Woolfrey - [email protected]

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