MuJoCo ros2 control plugins by saikishor · Pull Request #133 · ros-controls/mujoco_ros2_control

saikishor · 2026-03-03T22:28:54Z

This PR proposes an approach to easily integrate the user's code to fetch information from the mujoco system hardware component, and decouples the complexity into the main code, and also gives the user some flexibility.

saikishor · 2026-03-03T22:29:11Z

@Juliaj FYI

Juliaj · 2026-03-03T23:39:47Z

@Juliaj FYI

@saikishor, thanks, this is awesome. I can think two use cases immediately

Get velocimeter without exposing it 😃
Potential reward calculation

Will look for opportunities to utilize it.

codecov-commenter · 2026-03-03T23:47:57Z

Codecov Report

❌ Patch coverage is 74.13793% with 15 lines in your changes missing coverage. Please review.
✅ Project coverage is 72.92%. Comparing base (0795d08) to head (09a3a20).

Files with missing lines	Patch %	Lines
...ujoco_ros2_control/src/mujoco_system_interface.cpp	68.75%	7 Missing and 3 partials ⚠️
...control_plugins/src/heartbeat_publisher_plugin.cpp	77.27%	0 Missing and 5 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #133      +/-   ##
==========================================
+ Coverage   72.89%   72.92%   +0.02%     
==========================================
  Files           9       12       +3     
  Lines        2509     2567      +58     
  Branches      248      266      +18     
==========================================
+ Hits         1829     1872      +43     
- Misses        572      579       +7     
- Partials      108      116       +8

Flag	Coverage Δ
unittests	`72.92% <74.13%> (+0.02%)`	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...os2_control_plugins/heartbeat_publisher_plugin.hpp	`100.00% <100.00%> (ø)`
...ntrol_plugins/mujoco_ros2_control_plugins_base.hpp	`100.00% <100.00%> (ø)`
...control_plugins/src/heartbeat_publisher_plugin.cpp	`77.27% <77.27%> (ø)`
...ujoco_ros2_control/src/mujoco_system_interface.cpp	`53.60% <68.75%> (+0.41%)`	⬆️

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

saikishor · 2026-03-04T07:04:46Z

@saikishor, thanks, this is awesome. I can think two use cases immediately

Get velocimeter without exposing it 😃

Potential reward calculation

Will look for opportunities to utilize it.

The velocimeter part yes. If you want any other link, other than the floating base this should be the way to use it. The floating base part is already integrated in the simulator.

Regarding the reward calculation, I don't think it makes sense here during sim-to-sim

You can use this to have the contact detection as you wanted initially 😊

saikishor · 2026-03-04T17:20:11Z

@eholum The pixi build is now failing when added new packages. I'll try to take a look at it

mujoco_ros2_control_plugins/package.xml

eholum-nasa

This is great! Mostly just minor nits. @Juliaj I'd be curious to know more about your thoughts, too, if you had the time to take a look!

eholum-nasa · 2026-03-04T18:51:33Z

mujoco_ros2_control/src/mujoco_system_interface.cpp

+      // Default: load the heartbeat publisher plugin
+      RCLCPP_INFO(get_logger(), "No 'mujoco_plugins' parameter found, loading default HeartbeatPublisherPlugin");


Did you mean to throw the heartbeat plugin into the list here?

That said, do we want this to be loaded by default? It's pretty innocuous I suppose.

You are right. In my previous implementation i was using it to test it's functionality

eholum-nasa · 2026-03-04T18:52:30Z

mujoco_ros2_control/src/mujoco_system_interface.cpp

+      // find the motion key: after 'motions.', and before the next '.'
+      const auto plugin_key = param.substr(init_position, param.find_first_of('.', init_position) - init_position);
+      // Add the motion to the set of unique values


Suggested change

// find the motion key: after 'motions.', and before the next '.'

const auto plugin_key = param.substr(init_position, param.find_first_of('.', init_position) - init_position);

// Add the motion to the set of unique values

// find the plugin key: after 'motions.', and before the next '.'

const auto plugin_key = param.substr(init_position, param.find_first_of('.', init_position) - init_position);

// Add the plugin to the set of unique values

eholum-nasa · 2026-03-04T18:53:48Z

mujoco_ros2_control/src/mujoco_system_interface.cpp

+  // Load MuJoCo ROS2 Control plugins
+  try


I'm annoying, but would you mind kicking this out to an internal helper function just for clarity and to make the init method a little shorter?

eholum-nasa · 2026-03-04T18:59:29Z

...os2_control_plugins/include/mujoco_ros2_control_plugins/mujoco_ros2_control_plugins_base.hpp

+  virtual bool init(rclcpp::Node::SharedPtr node, const mjModel* model, mjData* data) = 0;
+
+  /**
+   * @brief Update the plugin (called every simulation step)


I think this is called during read right? So it will run at the control loop rate? Might be worth calling it out.

eholum-nasa · 2026-03-04T19:00:41Z

mujoco_ros2_control_plugins/src/heartbeat_publisher_plugin.cpp

+void HeartbeatPublisherPlugin::update(const mjModel* /*model*/, mjData* data)
+{
+  auto current_time = std::chrono::steady_clock::now();
+  auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(current_time - last_publish_time_);


Not sure if it was intentional or not but did you want to use the sim time here rather than wall clock time? They might be different! Not a big deal either way since it's an example, but I would explicitly call it out.

Now that you say, it makes sense.

Maybe I should also forward the rclcpp::Time here? That way everyone can use it for the timestamp to publish data

What do you think about it?

I think users (and we) have options! Could either just use the node's time since that will pull the sim time, or even just the data->time if that's what people are interested in? I don't think we explicitly have to pass the time stamp through here?

saikishor added 5 commits March 3, 2026 19:02

Add initial commit of mujoco_ros2_control_plugins

1e59da8

Add the integration of the mujoco_ros2_control_plugins

a6c802a

Add hearbeat plugin to demonstrate mujoco plugins

a12c8a4

Add the hearbeat publisher to the 01 basic robot launch

eae048b

Cleanup and add notes

caf47be

saikishor requested review from eholum-nasa and ndunkelb-nasa March 3, 2026 22:29

saikishor added 2 commits March 3, 2026 23:34

Add fmt dependency

545bb78

Use native approach to work for Humble

c3f15b3

eholum-nasa reviewed Mar 4, 2026

View reviewed changes

mujoco_ros2_control_plugins/package.xml Show resolved Hide resolved

saikishor and others added 4 commits March 4, 2026 19:10

update pixi.toml

f72beb8

Update license

3025159

Add missing header

f6382a7

Update includes and don't link against plugin

09a3a20

eholum-nasa reviewed Mar 4, 2026

View reviewed changes

		// Default: load the heartbeat publisher plugin
		RCLCPP_INFO(get_logger(), "No 'mujoco_plugins' parameter found, loading default HeartbeatPublisherPlugin");

Conversation

saikishor commented Mar 3, 2026

Uh oh!

saikishor commented Mar 3, 2026

Uh oh!

Juliaj commented Mar 3, 2026

Uh oh!

codecov-commenter commented Mar 3, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Codecov Report

Uh oh!

saikishor commented Mar 4, 2026

Uh oh!

saikishor commented Mar 4, 2026

Uh oh!

Uh oh!

eholum-nasa left a comment

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants

codecov-commenter commented Mar 3, 2026 •

edited

Loading