MuJoCo Sensors Plugin

mujoco_ros_sensors publishes native MuJoCo sensor readings as ROS messages. It does not handle MuJoCo user sensors; implement custom sensors as separate MuJoCo ROS plugins with their own message definitions.

Configuration

MujocoPlugins:
  - type: mujoco_ros_sensors/MujocoRosSensorsPlugin

Topics

Each supported MuJoCo sensor is published on a topic named after the sensor. Depending on sensor type, the plugin uses:

• geometry_msgs/Vector3Stamped

• geometry_msgs/PointStamped

• geometry_msgs/QuaternionStamped

• mujoco_ros_msgs/ScalarStamped

In training mode, the plugin also publishes a ground-truth topic with _GT appended to the sensor name. In eval_mode, ground-truth topics are not created.

Noise Models

Noise is registered through /sensors/register_noise_models with mujoco_ros_msgs/RegisterSensorNoiseModels. Each SensorNoiseModel names a sensor and provides mean and std arrays. For quaternion sensors, noise is expressed as Euler-angle noise and then converted to a quaternion.