A package to evaluate Robotnik robot dynamics in mujoco. The package links mujoco model to ros2 control
Model compile requires stl to be in the urdf folder
Have not been able to compile urdf with file:// nor package:// instead I have used fixed folder paths
Current controller uses diff_drive_base_controller (speed) instead of the robotnik_controllers one TBD)
Tested with mujoco 3.3.7 and ros 2 humble
-Create mujoco_ws ros 2 workspace
-Install mujoco
-Install https://github.com/moveit/mujoco_ros2_control and compile
-Install https://github.com/RobotnikAutomation/robotnik_mujoco and compile
ros2 launch robotnik_mujoco rbsummit_world.launch.py ros2 launch rbsummit_world_rough_terrain.launch.py ros2 launch rbsummit_world_nist_arenas.launch.py
on a second terminal launch ps game pad or
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/diff_drive_base_controller/cmd_vel_unstamped