mujoco_ros2_control
- Software
- Simulators
- Library
A ros2_control system interface that runs ROS 2 controllers against the MuJoCo physics simulator, using MJCF or URDF-generated robot models.
Made by ros-controls.
Source on GitHub: github.com/ros-controls/mujoco_ros2_control (opens in a new tab). Facts read at commit 8a083ff (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 8a083ff (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Provides a full ros2_control SystemInterface plugin wrapping MuJoCo as a hardware interface.
- Includes MJCF and URDF conversion utilities to generate MuJoCo models automatically.
- Offers an optional plugin system for custom simulation publishers and services.
- Ships demo launch files, configs and example robots showing basic control, PID and transmissions.
- Includes integration and launch tests along with Docker files for CI and containers.
- Supports the ROS 2 Humble, Jazzy, Kilted, Lyrical and Rolling distributions.
Written by Robotheca from the project's README (opens in a new tab) at commit 8a083ff.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 14 Oct 2026 on main
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.