MuJoCo ros2_control

This repository provides a ros2_control system interface and supporting packages to run ROS 2 controllers against the MuJoCo physics simulator.

This project wraps MuJoCo as a hardware/system interface so you can use the ros2_control stack (controller manager, controllers, controller interfaces) against simulated robots based on MJCF or generated from URDF.

Contents

• mujoco_ros2_control - core system interface plugin and resources
• mujoco_ros2_control_msgs - message/service definitions used by the plugin
• mujoco_ros2_control_plugins - optional plugins that extend simulation capabilities
• mujoco_ros2_control_demos - demo launch files, configs and example robots
• mujoco_ros2_control_tests - integration / launch tests and simple examples
• docker/ - Dockerfiles and scripts to run CI/containers

Key features

• Full ros2_control SystemInterface plugin for MuJoCo
• MJCF/URDF conversion utilities to auto-generate MuJoCo models
• Optional plugin system for extending simulation with custom publishers and services
• Example demos showing basic control, PID and transmission setups

Quick start

There are two common ways to get running: build from source (recommended) or install prebuilt binaries (if available for your distribution).

• Build from source (recommended)

  1. Install required dependencies manually or from rosdep, including the mujoco_vendor package which provides the base MuJoCo install.

  2. Build the workspace (example with a sourced ROS 2 installation):

  # from workspace root (this repository is typically inside a ROS 2 workspace)
  colcon build --symlink-install --packages-select mujoco_ros2_control* \
    --cmake-args -DCMAKE_BUILD_TYPE=Release

  3. Source the workspace and run a demo:

  source install/setup.bash
  ros2 launch mujoco_ros2_control_demos demo.launch.py

• Install prebuilt binaries (if available)

  If your ROS 2 distribution or your OS package index provides prebuilt packages for mujoco_ros2_control, you can install those instead of compiling from source. Check your distribution's package repositories or the project's GitHub releases for available binary artifacts.

  Example (Debian/Ubuntu with ROS packages — replace <distro>):

  sudo apt update
  sudo apt install ros-<distro>-mujoco-ros2-control

  After installing binaries, source your ROS install and run a demo:

  source /opt/ros/<distro>/setup.bash
  ros2 launch mujoco_ros2_control_demos demo.launch.py

See mujoco_ros2_control/README.md for detailed usage, configuration examples and mappings between MJCF actuators/sensors and ros2_control interfaces.

Supported ROS 2 distributions

• The project is developed and tested against multiple ROS 2 distributions. This README includes basic notes for: Humble, Kilted, Jazzy and Rolling.

Support matrix

Distribution	Status
Humble	Supported
Kilted	Supported
Jazzy	Supported
Rolling	Supported (development)

Contributing

• Contributions, bug reports and feature requests are welcome. Please follow standard ROS Controls project workflows: open issues, send PRs against the main branch and respect the repository code style using pre-commit.

License & maintainers

• This repository is distributed under the terms of the LICENSE file (LICENSE). Maintainers and authors are listed in the Git history and package manifests (package.xml) inside each package.