MuJoCo ROS2

Introduction

This package is developed with ROS2 as a fork of Spot MuJoCo ROS2 with the aim to be a general ROS2 MuJoCo wrapper.

Comparing to the original repo, this fork includes:

• feet contact callback
• JointTrajectory callback to control the robot
• odometry callback
• parameters to time the callbacks
• ANYmal C XML description

Installation

# Create your own workspace
cd ~/ & mkdir -p your_workspace/src

# Clone this package to your_workspace/src
cd ~/your_workspace/src & git clone git@github.com:mlisi1/Spot-MuJoCo-ROS2.git
cd ..

# Build (DO NOT remove `--symlink-install`)
colcon build --symlink-install 

# Setup env
source install/setup.bash

# Run simulation 
ros2 launch mujoco anymal_simulation.launch.py

Published topics

Using the command ros2 topic list the following topics can be seen during simulation:

# already present
/simulation/actuators_cmds
/simulation/imu_data
/simulation/joint_states
/simulation/odom
/simulation/rgb_image
/simulation/depth_image
/simulation/imu_data
/simulation/touch_sensor

# new topics
/simulation/joint_trajectory        # used to control the robot
/simulation/contacts                # publishes all contacts
/simulation/sensor_odom             # publishes Odomtry message regarding a specific frame

It is worth noting that it is useful to give names to the interested geometries for collision. The simulation will publish every collision happening; as usually geometries do not have a name, they will show as Unnamed, so indistinguishible.