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Requirements

Ubuntu 22.04, 24.04

ROS2 Humble, Jazzy

Mujoco more than 3.3.5

It should work with other versions but they have not been tested.

Installation

Install mujoco

pip install mujoco

Clone simulator repository from here. https://github.com/Centre-for-Biorobotics/dr_mujoco

Put it on your ros2 workspace and then colcon build.

You can launch demo script as

ros2 launch dr_mujoco default.launch.py

If you see the red box on the simulator, it is success!

Image Image

This simulator is for differential drive robot. But mujoco model is not included in this repository due to the class usage. You have to make your own mujoco model of differential drive robot.