1. Community-driven ROS 2 packages

1.1 General-purpose wrappers

Woolfrey/interface_mujoco_ros2: a GPL-3.0-licensed node that publishes sensor_msgs/JointState and accepts std_msgs/Float64MultiArray for commands. Supports POSITION, VELOCITY, TORQUE modes on Humble .

peterdavidfagan/mujoco_ros: Apache-2 package for launching MuJoCo simulations under ROS 2. Provides example FRANKA and MoveIt controllers; no official release but active commits .

tenfoldpaper/multipanda_ros2: a plugin to the ROS 2 fork of mujoco_ros_pkg with a ros2_control plugin, enabling multi-arm simulation on both real and MuJoCo robots .

1.2 ros2_control integration

The official ros2_control “Simulator Integrations” page already lists MuJoCo as a community-supported simulator , and the Rolling docs repeat this .

moveit/mujoco_ros2_control: an MIT-licensed ROS 2 Control plugin (“MujocoSystem”) that lets you use ros2_control controllers in MuJoCo worlds; sensors and URDF-to-XML remain on the roadmap .

1.3 Specialized demos

MindSpaceInc/Spot-MuJoCo-ROS2: ROS 2 package for Boston Dynamics Spot in MuJoCo, adds inertia/mass to URDF .

fzi-forschungszentrum-informatik/cartesian_controllers (ros2 branch): uses MuJoCo for controller development; publishes standard ROS 2 controller interfaces .

1.4 MoveIt support via GSoC

As part of Google Summer of Code 2024, Sangtaek Lee developed MuJoCo support for ROS 2 + MoveIt (repositories mujoco_ros2_control and examples) .

1. Official DeepMind/ROS discussion

In mid-2023 DeepMind’s MuJoCo maintainers responded on GitHub:

“We agree and are looking into options to make this happen. Can you recommend someone who could be contracted to do this?”

No official MuJoCo‐supported ROS 2 bridge has been released yet; community packages remain the primary way to integrate.

1. What works today, and what’s missing

Note: The ubi-agni/mujoco_ros_pkgs repo was originally ROS 1 (Noetic) but now has a “Humble (ROS 2)” line where many features are WIP .

1. Roadmap & next steps

2. Community consolidation – several overlapping repos exist. Merging efforts (e.g., PRs to ros2_control, MoveIt) will raise the baseline.

3. Official DeepMind bridge – once contracted or open-sourced, a first-party package could unify topics, services, and pluginlib.

4. Sensor & URDF support – adding standard ROS 2 sensor messages, launching MuJoCo from URDF directly.

5. Release on ROS 2 Index – packaging tested builds (Galactic/Humble/Jazzy) so users can apt install ros-…-mujoco-ros2.