README

mujoco_ros2_control_plugins

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
`ExternalWrenchPlugin`	Applies external wrenches to MuJoCo bodies via a ROS 2 service

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.