MuJoCo RGBD ROS2

Clone Repository

Clone the repository:

git clone https://github.com/labiybafakh/mujoco_rgbd_ros2.git

Prerequisites

Make sure you have the required dependencies installed:

sudo apt update
sudo apt install libopencv-dev libpcl-dev libglfw3-dev libgl1-mesa-dev libglew-dev

Building with ROS2

This package provides MuJoCo RGBD camera simulation for ROS2, publishing point clouds and depth images. It uses a pre-built MuJoCo library (version 3.3.4) located in the third_party/ directory. To build:

1. Install ROS2 dependencies:

   cd <your_workspace_root>
   rosdep install --from-paths src --ignore-src -r -y

2. Build with colcon from your workspace root:

   cd <your_workspace_root>
   colcon build --packages-select mujoco_rgbd_ros2

   Or for a release build:

   colcon build --packages-select mujoco_rgbd_ros2 --cmake-args -DCMAKE_BUILD_TYPE=Release

3. Source the workspace:

   source install/setup.bash

Running

Launch the RGBD node with RViz:

ros2 launch mujoco_rgbd_ros2 mujoco_rgbd.launch.py

Launch without RViz:

ros2 launch mujoco_rgbd_ros2 mujoco_rgbd.launch.py start_rviz:=false

Launch with custom parameters:

# Custom model file
ros2 launch mujoco_rgbd_ros2 mujoco_rgbd.launch.py model_file:=/path/to/your/model.xml

# Custom camera settings
ros2 launch mujoco_rgbd_ros2 mujoco_rgbd.launch.py camera_name:=rgbd_camera frame_id:=camera_optical_frame

# Custom image resolution and rate
ros2 launch mujoco_rgbd_ros2 mujoco_rgbd.launch.py image_width:=1280 image_height:=720 publish_rate:=60.0

Available launch parameters:

• model_file: Path to MuJoCo model file (default: config/camera_environment.xml)
• camera_name: Name of the camera in MuJoCo model (default: camera)
• frame_id: Frame ID for published data (default: camera_link)
• publish_rate: Publishing rate in Hz (default: 30.0)
• image_width: Image width in pixels (default: 640)
• image_height: Image height in pixels (default: 480)
• start_rviz: Whether to start RViz automatically (default: true)

Note: The default model file is config/camera_environment.xml which includes a test scene with obstacles and an RGBD camera.

Published Topics

• /mujoco/pointcloud - Colored point cloud (sensor_msgs/PointCloud2)
• /mujoco/color/image_raw - RGB camera image (sensor_msgs/Image)
• /mujoco/depth/image_raw - Depth image (sensor_msgs/Image)
• /mujoco/camera_info - Camera calibration info (sensor_msgs/CameraInfo)

Subscribed Topics

• /mujoco_rgbd_node/base_link/pose_command - Camera pose commands (geometry_msgs/PoseStamped)
  • Use this topic to dynamically control the camera position and orientation during simulation

Troubleshooting

• Build fails: Make sure all dependencies are installed using the commands in the Prerequisites section
• MuJoCo library not found: The pre-built MuJoCo library is included in third_party/mujoco-3.3.5/lib/
• GLFW or OpenGL errors: Ensure you have the graphics drivers and development libraries installed