feat: ROS2 Humble migration + MuJoCo physics simulation bridge#98
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cometyang wants to merge 1 commit into
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feat: ROS2 Humble migration + MuJoCo physics simulation bridge#98cometyang wants to merge 1 commit into
cometyang wants to merge 1 commit into
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This commit migrates the entire spotMicro stack from ROS1 to ROS2 Humble and adds a new MuJoCo-based physics simulation package. ## ROS2 Migration - Converted all packages from catkin to ament_cmake/ament_python - Replaced roscpp with rclcpp, rospy with rclpy - Updated all launch files from .launch XML to Python launch descriptions - Updated message/service types to ROS2 interfaces - Added missing dependencies (tf2_eigen, Eigen3) - Fixed smfsm library link dependencies in spot_micro_motion_cmd - Added missing #include <memory> and #include <string> to spot_micro_state.h - Fixed ServosConfig.srv response field (bool success) - Created i2cpwm_board ROS2 package with custom servo messages/services ## New Package: spot_micro_mujoco_sim - MJCF model with 12 position actuators and freejoint root - Bridges ROS2 servo commands (/servos_proportional) to MuJoCo actuators - Publishes /joint_states and /tf at 50Hz - Steps physics at 500Hz with stable kp=100/kv=10 actuator gains - Handles servo config service (/config_servos) - Supports offscreen video recording (optional parameter) - Includes launch file with robot_state_publisher and RViz2 integration
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This commit migrates the entire spotMicro stack from ROS1 to ROS2 Humble and adds a new MuJoCo-based physics simulation package.
ROS2 Migration
New Package: spot_micro_mujoco_sim