mujoco_ros2_control_demos

Demonstration tutorials for the mujoco_ros2_control package. This package provides ready-to-use tutorials that show how to use MuJoCo with ros2_control.

Documentation

Full tutorial documentation is maintained in RST format:

• Demos and Tutorials — step-by-step tutorials covering basic robot setup, MJCF generation, PID control, transmissions, and the base velocity plugin.

Quick Start

# Tutorial 1 – Basic Robot
ros2 launch mujoco_ros2_control_demos 01_basic_robot.launch.py

# Tutorial 2 – MJCF Generation at Runtime
ros2 launch mujoco_ros2_control_demos 02_mjcf_generation.launch.py

# Tutorial 3 – PID Control
ros2 launch mujoco_ros2_control_demos 03_pid_control.launch.py

# Tutorial 4 – Transmissions
ros2 launch mujoco_ros2_control_demos 04_transmissions.launch.py

# Tutorial 5 – Base Velocity Plugin
ros2 launch mujoco_ros2_control_demos 05_base_velocity_plugin.launch.py

All tutorials support headless:=true to run without the MuJoCo viewer.

For the full list of launch arguments, features, controlling the robot, and package structure, see doc/tutorials.rst.

See Also

• Main package: mujoco_ros2_control
• Tests: mujoco_ros2_control_tests

Changelog for package mujoco_ros2_control_demos

0.1.1 (2026-08-25)

• Fix the generate changelog of 0.1.0 (#288)
• Contributors: Sai Kishor Kothakota

0.1.0 (2026-08-18)

• Add base twist plugin for commanding the mobile base (#254)
• Add support for Magnetometer sensor (#257)
• Add missing dependencies (#250)
• MuJoCo free joints state publisher plugin (#247)
• Fix transmissions integration working with multiple actuators (#241)
• Add service to set the free joint body state (#233)
• Add pose sensor test to launch tests (#232)
• Fix state passed into pose sensors (#231)
• remove shebangs from launch files (#227)
• Add support for pose sensors (#220)
• Support polling, streaming, and disabled cameras in camera plugin (#217)
• Refactor Rangefinder base Lidar as a Plugin (#214)
• Refactor RGB-D Cameras to a Plugin (#211)
• Migrate documentation to rst format for control.ros.org (#188)
• Contributors: Christian Rauch, Daniel Costanzi, Erik Holum, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa

0.0.3 (2026-05-01)

• Switch to forward_command_controller dependency (#173)
• Contributors: Christoph Fröhlich

0.0.2 (2026-03-17)

• Fix reset simulation service for robots using PID control (#140)
• Cleanup duplicate files (#146)
• Remove deprecated JointGroupPositionController with ForwardCommandController (#147)
• [URDF->MJCF] fixed path for urdf with test (#127)
• [Feature] MuJoCo ros2 control plugins (#133)
• Use pixi-build-ros as the backend for pixi builds (#130)
• Contributors: Christoph Fröhlich, Erik Holum, Ortisa, Sai Kishor Kothakota

0.0.1 (2026-02-24)

• Updates docs and comments (#113)
• Cleanup of Docs and Dev Guides (#111)
• Add mujoco_ros2_control_demos package and retarget tests (#100)
• Contributors: Erik Holum, Louis LE LAY, Sai Kishor Kothakota