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Removed the forked controller manager node #9

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Removed the forked controller manager node #9

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f3e105c
Remove the forked ros2 control node
eholum-nasa Nov 19, 2025
2cf338a
Update README
eholum-nasa Nov 19, 2025
8b0ded0
Revert to the controller_manager node
eholum-nasa Nov 19, 2025
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10 changes: 0 additions & 10 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -177,16 +177,6 @@ install(TARGETS mujoco_ros2_simulation
LIBRARY DESTINATION lib/${PROJECT_NAME}
)

# Install the ROS 2 control node
add_executable(ros2_control_node src/mujoco_ros2_control_node.cpp)
target_link_libraries(ros2_control_node PUBLIC
controller_manager::controller_manager
)
install(
TARGETS ros2_control_node
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

# Install python tools
install(PROGRAMS
scripts/find_missing_inertias.py
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20 changes: 0 additions & 20 deletions README.md
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Expand Up @@ -75,26 +75,6 @@ Just specify the plugin and point to a valid MJCF on launch:
...
```

Due to compatibility issues, we use a [slightly modified ROS 2 control node](./src/mujoco_ros2_control_node.cpp).
It is the same executable and parameters as the upstream, but requires updating the launchfile:

```python
control_node = Node(
# Specify the control node from this package!
package="mujoco_ros2_simulation",
executable="ros2_control_node",
output="both",
parameters=[
{"use_sim_time": True},
controller_parameters,
],
)
```

> **_NOTE_**: We can remove the the ROS 2 control node after the next ros2_control upstream release,
as the simulation requires [this PR](https://github.com/ros-controls/ros2_control/pull/2654) to run.
The hardware interface _should_ then be compatible with `humble`, `jazzy`, and `kilted`.

### Joints

Joints in the ros2_control interface are mapped to actuators defined in the MJCF.
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192 changes: 0 additions & 192 deletions src/mujoco_ros2_control_node.cpp
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This file was deleted.

2 changes: 1 addition & 1 deletion test/launch/test_robot.launch.py
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Expand Up @@ -60,7 +60,7 @@ def generate_launch_description():
)

control_node = Node(
package="mujoco_ros2_simulation",
package="controller_manager",
executable="ros2_control_node",
output="both",
parameters=[
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