Mujoco ROS Sim

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Dependencies

• ROS2 Humble
• MuJoCo

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Installation

Install dependencies

sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc

Install step and running code example

cd ~/ros2_ws
git clone --recursive https://github.com/JunHeonYoon/mujoco_ros_sim.git src
colcon build --symlink-install
source install/setup.bash

ros2 launch ros2 launch mujoco_ros_sim mujoco_sim.launch.py #robot_name:=...