ROS 2 pacakge that defines the robot for simulation using MuJoCo.
mujoco.launch.py:
- loads urdf and coverts to robot description
- starts mujoco_ros2_control node
- spawns multiple controllers for different robot functions
URDF → XACRO Processing → Robot Description → MuJoCo Engine ↓ Controllers ← ROS 2 Control ← MuJoCo ROS 2 Control ← Physics Simulation TSID Controller Node ↓ (publishes joint commands) /robosoccer/joint_commands (Float64MultiArray) ↓ TSID to Trajectory Bridge ↓ (converts to trajectory) /position_controller/joint_trajectory (JointTrajectory) ↓ ros2_control Position Controller ↓ (sends to hardware interface) mujoco_ros2_control (MujocoSystem) ↓ (applies to simulation) MuJoCo Physics Engine