mujoco_ros2_control_plugins

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
jazzy

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
kilted

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
lyrical

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
rolling

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

mujoco_ros2_control_plugins package from mujoco_ros2_control repo

mujoco_3d_lidar mujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_plugins mujoco_ros2_control_tests

ROS Distro
humble

Package Summary

Version	0.1.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-controls/mujoco_ros2_control.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Plugin package for mujoco_ros2_control

Maintainers

Nathan Dunkelberger
Erik Holum
Bence Magyar
Denis Štogl
Christoph Froehlich
Sai Kishor Kothakota

Authors

Sai Kishor Kothakota

mujoco_ros2_control_plugins

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

Documentation

Full documentation is maintained in RST format:

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

Available Plugins

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

Quick Start

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.

Changelog for package mujoco_ros2_control_plugins

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 a pre-step callback to the simulation (#282)
Add base twist plugin for commanding the mobile base (#254)
[doc] Fix undefined label errors (#260)
Add missing documentation (#249)
Add missing dependencies (#250)
[CI] Fix dependency declarations for bloom (#226)
MuJoCo free joints state publisher plugin (#247)
Fix CameraPlugin default frame name to be consistent with docs. (#242)
Make CI tests more robust (#239)
Fix links in interface docs, use auto label generator like the upstream (#238)
Add Plugin for the 3D Lidar Extension (#207)
Fix plugin export so that downstream plugins don't fail (#215)
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, Erik Holum, Nathan Dunkelberger, Sai Kishor Kothakota, Sebastian Castro, msavchen-nasa, pang-yann

0.0.3 (2026-05-01)

Add macro check using realtime_tools_MAJOR_VERSION (#181)
Add more useful plugins for the mujoco_ros2_control (#165)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.2 (2026-03-17)

[Feature] MuJoCo ros2 control plugins (#133)
Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_cpp
	mujoco_3d_lidar
	ament_cmake_gtest
	backward_ros
	mujoco_vendor
	rclcpp
	realtime_tools
	ros2_control_cmake
	pluginlib
	sensor_msgs
	std_msgs
	std_srvs
	geometry_msgs
	visualization_msgs
	mujoco_ros2_control_msgs

System Dependencies

Name
libglfw3-dev
opengl

Dependant Packages

Name	Deps
mujoco_ros2_control
mujoco_ros2_control_tests

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `mujoco_ros2_control_plugins` at Robotics Stack Exchange