The Development of a Visual Servo Simulator Based on ROS2 and MuJoCo

In developing a visual servoing scheme, simulation is important for testing robot behavior and control algorithms in different surrounding environments. Robot Operating System 2 (ROS2) is an important framework and tool for quickly building robot systems, while Multi-Joint dynamics with Contact (MuJoCo) is an important robot simulation engine. However, ros2 officially does not currently provide an interface for MuJoCo simulation. This paper presents the development of a simulator tailored for visual servoing scenarios and 7-degree-of-freedom (DOF) robots, utilizing ROS2 and MuJoCo. Our purpose is to facilitate the testing of visual servoing schemes and robot controllers. Specifically, We have utilized this simulator to implement position-based visual servoing (PBVS) and image-based visual servoing (IBVS) to verify the functionality and performance of the designed simulator. Finally, the experiment shows that the simulator can complete visual servo tasks and demonstrate good stability.We anticipate that this simulator can be utilized to develop different visual servo algorithms in the future.