mujoco_ros2_control

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:

• ROS
• Mujoco

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.

Docker

A basic containerized workflow is provided to test this package in isolation. For more information refer to the docker documentation.

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.

Contributing to mujoco_ros2_control

Thank you for considering contributing to our project! We welcome contributions in all forms, from bug fixes and documentation improvements to new features. Please read our guidelines carefully and ensure you follow contribution guidelines throughout your participation.

How to Contribute

1. Reporting Issues

• Check Existing Issues: Before opening a new issue, please search through the existing issues to see if someone else has already reported it.
• Bug Reports: If you find a bug, please open an issue with a detailed description and, if possible, steps to reproduce it.
• Feature Requests: For new features or improvements, please open an issue to discuss the idea before starting work.

2. Submitting Pull Requests

When you’re ready to contribute code or documentation, please follow these steps:

• Click the “Fork” button at the top right of the repository page to create your own copy.
• Clone your forked repository.
• Create a feature branch.
• Implement your feature or bug fix.
• Before submitting your pull request, run the following commands to ensure everything is in order:

# Run Unit/Integration Tests
colcon test

# Run Pre-Commit Hooks
pre-commit run -a

• Commit and push your changes
• Open a pull request

License

Any contribution that you make to this repository will be under the MIT license, as dictated by that license.

Thank You

We appreciate your time and effort in contributing to our project.