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 | 1 | initial version |
https://github.com/shadow-robot/mujoco_ros_pkgs looks helpful for some amount of ros integration but it doesn't look to help much with gazebo controller plugins.
Try https://github.com/ros-controls/ros_controllers for non-gazebo usage of the gazebo control plugins you are using, you should be able to start up nodes that publish out the results of their control computations on topics, then you could have a python node subscribe to those and talk to mujoco.
http://wiki.ros.org/pid is useful if you want a quick and simple topics-in-topics-out pid controller that doesn't use ros_control, or spend a little more time finding and integrating some non-ros python libraries that do pid or more advanced control.
| | 2 | No.2 Revision |
https://github.com/shadow-robot/mujoco_ros_pkgs looks helpful for some amount of ros integration but it doesn't look to help much with gazebo controller plugins.
Try https://github.com/ros-controls/ros_controllers for non-gazebo usage of the gazebo control plugins you are using, you should be able to start up standalone nodes that publish out the results of their control computations on topics, then you could have a python node subscribe to those and talk to mujoco.
http://wiki.ros.org/pid is useful if you want a quick and simple topics-in-topics-out pid controller that doesn't use ros_control, or spend a little more time finding and integrating some non-ros python libraries that do pid or more advanced control.
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