mujoco_ros2_control with universal robot "ur5e and robotiq gripper

This repository provides a working simulation setup for a UR5e robot with a Robotiq 2F-85 gripper and an Intel RealSense D435i camera using ros2_control and MuJoCo. It is based on the ros-controls/mujoco_ros2_control framework.

Features

• UR5e + Robotiq 2F-85 gripper model using XML and URDF/XACRO
• Intel RealSense D435i camera on a pan joint, mounted on a static cantilever stand
• Two free-floating cubes (red/green) for manipulation
• mujoco_ros2_control integration for controlling joints
• MuJoCo as the physics engine
• Launch file to run the full simulation and controllers

Requirements

• ROS2 (tested with Humble)
• MuJoCo 3.x
• mujoco_ros2_control — follow its installation steps to install mujoco_ros2_control itself before building this package

Installation

Clone the repository

mkdir -p ~/mujoco_ros2_ws/src
cd src
git clone https://github.com/abuibaid/mujoco_ros2_ur.git

Install dependencies, build the workspace and source it

cd ~/mujoco_ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build 
source install/setup.bash

Launch Simulation

ros2 launch mujoco_ros2_ur ur5e.launch.py

ROS2 Topics

/camera/camera_info
/camera/color
/camera/depth
/camera_position_controller/commands
/camera_position_controller/transition_event
/client_count
/clock
/connected_clients
/dynamic_joint_states
/force_torque_sensor_broadcaster/transition_event
/force_torque_sensor_broadcaster/wrench
/gripper_controller/transition_event
/joint_state_broadcaster/transition_event
/joint_states
/joint_trajectory_controller/controller_state
/joint_trajectory_controller/joint_trajectory
/joint_trajectory_controller/state
/joint_trajectory_controller/transition_event
/mujoco_actuators_states
/parameter_events
/robot_description
/rosout
/tf
/tf_static

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