icir_mujoco_ros

Simple bridge between MuJoCo and ROS.

MuJoCo sends joint and sensor data via ROS topics, and receives torque or position command data via ROS topics.

MuJoCo version: 2.0 (mjpro200)

Ubuntu 18.04 or 20.04 recommended (graphical issues on 16.04)

Requirements

MuJoCo license key is required. Place it at ~/.mujoco/mjkey.txt.
Free license available at https://www.roboti.us/file/mjkey.txt

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ROS Topics

Published (MuJoCo → Controller)

Topic	Type	Description
mujoco_ros_interface/joint_states	sensor_msgs/JointState	Joint position, velocity, torque
mujoco_ros_interface/sensor_states	mujoco_ros_msgs/SensorState	Sensor data (e.g. F/T sensor)
mujoco_ros_interface/base	sensor_msgs/JointState	Mobile base state
mujoco_ros_interface/sim_time	std_msgs/Float32	Simulation time
mujoco_ros_interface/sim_status	mujoco_ros_msgs/SimStatus	All states in one topic (pub_mode:=true)
mujoco_ros_interface/sim_command_sim2con	std_msgs/String	Sim → controller command

Subscribed (Controller → MuJoCo)

Topic	Type	Description
mujoco_ros_interface/joint_set	mujoco_ros_msgs/JointSet	Joint torque or position command
mujoco_ros_interface/sim_command_con2sim	std_msgs/String	Controller → sim command
mujoco_ros_interface/sim_run	std_msgs/Bool	Pause / resume simulation
mujoco_ros_interface/sim_quit	std_msgs/Bool	Quit simulation

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Command Mode

JointSet.MODE selects the control type:

MODE	Description
0	Position control
1	Torque control

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Parameters

Parameter	Default	Description
pub_mode	false	If true, publish all states as a single SimStatus topic

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Note

For full system context, see icir_phri_panda_husky.