mujoco_ros

A minimal MuJoCo simulation with ROS communication.

Usage

Inside a fresh catkin workspace, clone this repo inside /path/to/ws/src/ (or inside /path/to/ws and rename this repo to src). Then, run catkin_make.

Mujoco

Download, compile and install mujoco:

cd /path/to/mujoco
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX="../install" -DCMAKE_BUILD_TYPE=Release ..
make -j
make install
cd ..
export MJ_PATH=$(pwd) 

Tests

Running tests for all packages:

catkin_make               # Compile and generate msgs
catkin_make run_tests     # Run tests 
catkin_test_results       # Check for failures

TODOs

• Visualization support
• Executing an open-loop plan from a file
• Closed-loop execution via a service (control in, next observation out)
• Use nodelets for faster message copies?
• Replace the old message translation code while having a way to simulate sensor data if necessary.
• Check nodelet frequencies and topic names
• Check for unnecessary copies
• Check if Xacro can be used to configure MJ models (i.e. change environment)
• Replace the current feedback_client (or at least refactor it) so it spawns mushr_simulation and connects via topics.