mujoco_ros2_control_plugins

Plugin package for mujoco_ros2_control

README

This package provides a plugin interface for extending the functionality of mujoco_ros2_control.

Full documentation is maintained in RST format:

MuJoCo ROS 2 Control Plugins — available plugins, usage, configuration, and instructions for writing your own plugin.

Plugin	Description
`HeartbeatPublisherPlugin`	Publishes a heartbeat string to `/mujoco_heartbeat` at 1 Hz
`CameraPlugin`	Publishes MuJoCo RGB-D camera color/depth/info to ROS 2 topics
`ExternalWrenchPlugin`	Applies external wrenches to MuJoCo bodies via a ROS 2 service
`BaseVelocityPlugin`	Drives a mobile/floating-base robot from a `cmd_vel`-style topic via a direct free-joint velocity override, independent of wheel-ground contact
`FreeJointStatePublisherPlugin`	Publishes the pose/velocity of free-joint bodies to a topic, in a selectable reference frame
`Mujoco3dLidarPlugin`	Republishes MuJoCo lidar-extension sensor data as `LaserScan`/`PointCloud2` messages
`RangefinderLidarPlugin`	[Deprecated] Wraps MuJoCo rangefinder sensors as `LaserScan` publishers

Load plugins by passing a parameters file to the mujoco_ros2_control node:

/**:
  ros__parameters:
    mujoco_plugins:
      heart_beat_plugin:
        type: "mujoco_ros2_control_plugins/HeartbeatPublisherPlugin"

For full usage details, service/topic interfaces, parameters, and a guide to writing your own plugin, see doc/plugins.rst.