Integrating with ubi_agni's mujco_ros2_control

[tenfoldpaper]

Hi there,
So I've just noticed that this repository is an entirely new codebase for mujoco_ros2_control.
As you probably saw in the other issues thread, there is already a functioning (albeit not feature complete) mujoco_ros2_control integration, being worked on by @DavidPL1 and myself. I will be making the pull request soon to merge the currently split forks into one.

I also noticed that one of your todo's is integrating sensors. My fork also includes the port of mujoco_ros_sensors package developed by @DavidPL1, and has been extended to include a spinning Lidar sensor to support navigation as well.

Given that we are all working for the same common goal, wouldn't it make sense to combine our development effort to create a single consolidated mujoco_ros2_control package?

[sangteak601]

Thanks for suggesting integration. First of all, I completely agree that having a single repository for MuJoCo-ROS2 integration would benefit the entire community and also developers like us.

However, I have a different perspective on how we can achieve this. I don't believe that contributing to your repository is the best way to unify these projects. As far as I know, many others have worked or are currently working on this topic. I was surprised by the number of attempts, as I could not find many when I first started this project.

To truly achieve unification, we need to gather all interested contributors, not just the two of us. Also, different people may have different approaches to solving this problem, so we will need to review and determine which approach gains the most consensus. This could mean that we have to start from the design phase.

We also need to consider where this repository should be hosted. As I experienced before, it is quite difficult to find these repositories. Therefore, visibility is crucial, and I believe that placing it in a sort of official ROS repository(such as ros2_control or moveit) would significantly improve its accessibility.