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MuJoCo

Status: Ready

MuJoCo simulation using mujoco_ros2_control (ros-controls fork). MuJoCo converts the URDF to MJCF internally and runs physics + rendering in the ros2_control_node process.

Prerequisites

Docker (recommended):

  • Docker Desktop

Native ROS2:

  • ROS2 Humble
  • mujoco_ros2_control (built from source -- see below)
  • mujoco pip package

Launch

Docker

cd simulation/so_arm_101_description
docker compose run mujoco

The Docker image builds mujoco_ros2_control from source automatically.

Native ROS2

# Clone dependencies into your workspace
cd ~/ros2_ws/src
git clone --depth 1 https://github.com/ros-controls/ros2_control_cmake.git
git clone --depth 1 https://github.com/pal-robotics/mujoco_vendor.git
git clone --depth 1 https://github.com/ros-controls/mujoco_ros2_control.git

# Build
cd ~/ros2_ws
colcon build --packages-up-to mujoco_ros2_control so_arm_101_description

# Launch
source install/setup.bash
ros2 launch so_arm_101_description sim.launch.py sim:=mujoco

How It Works

  1. The plugin mujoco_ros2_control/MujocoSystemInterface is selected via sim_backend:=mujoco
  2. A custom node (publish_mujoco_description) publishes the URDF to /mujoco_robot_description
  3. The MuJoCo plugin reads the URDF, converts it to MJCF, and starts the simulation
  4. The <mujoco><compiler meshdir=.../> tag in the URDF tells MuJoCo where to find collision meshes
  5. A rendering window opens showing the simulation (1280x720, patched from full-screen default)

Key Parameters (in so_101.ros2_control.xacro)

  • headless: Set to true for headless mode (no rendering window)
  • sim_speed_factor: Simulation speed multiplier (default: 1.0)

Verify

ros2 topic echo /joint_states --once

ros2 action send_goal /arm_controller/follow_joint_trajectory \
  control_msgs/action/FollowJointTrajectory "{
    trajectory: {
      joint_names: [base_link_to_link1, link1_to_link2, link2_to_link3, link3_to_link4, link4_to_link5],
      points: [{positions: [0.5, -0.5, 0.8, -0.3, 0.0], time_from_start: {sec: 2}}]
    }
  }"

Troubleshooting

  • OpenGL errors: Ensure GPU drivers are installed. For Docker, uncomment the NVIDIA GPU block in docker-compose.yaml.
  • Window too large: The Docker image patches the window to 1280x720. For native installs, the MuJoCo window may be full-screen by default.
  • No display: MuJoCo needs an X11 server for the rendering window. Use headless:=true in the xacro if no display is available.