This repository can be tought as the equivalent of gz_ros2_control but for the Mujoco simulator. The implementation is started from mujoco_ros2_control but differs from it since it wrap the original code around a Mujoco plugin. The Mujoco Plugin instantate a ros2_control controller manager that loads the hadrware interface as a plugin.
Finally, it can be combined with mujoco_ros_utils to increase its capabilities and get in Ros2 ecosystem other data like camera streams or object poses.
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.x.xYou can now compile the package using the following commands.
cd mujoco_ros2_control
source /opt/ros/${ROS_DISTRO}/setup.bash
colcon buildTODO