mechanicsdsl-ros2

Compile MechanicsDSL physical systems directly to complete ROS2 packages.

Overview

mechanicsdsl-ros2 provides a dedicated ROS2 integration layer for MechanicsDSL. Physical systems defined in DSL notation compile to complete, buildable ROS2 packages — no manual C++ required for the physics layer.

Package: mechanicsdsl_pendulum

The first generated package, currently including:

Nodes

Messages

Launch Files

ros2 launch mechanicsdsl_pendulum pendulum.launch.py
ros2 launch mechanicsdsl_pendulum pendulum.launch.py l_m:=0.5 theta0_rad:=0.8
ros2 launch mechanicsdsl_pendulum double_pendulum.launch.py theta1_0:=0.3 theta2_0:=0.2

Repository Structure

mechanicsdsl-ros2/
├── mechanicsdsl_pendulum/
│   ├── package.xml, CMakeLists.txt
│   ├── msg/  PendulumState.msg, SystemState.msg
│   ├── src/  pendulum_node.cpp, double_pendulum_node.cpp
│   ├── include/mechanicsdsl_pendulum/  pendulum_dynamics.hpp
│   ├── launch/  pendulum.launch.py, double_pendulum.launch.py
│   ├── config/  pendulum_params.yaml
│   └── test/  test_pendulum_eom.cpp, test_pendulum_integration.py
├── docker/  Dockerfile (ROS2 Jazzy + MechanicsDSL)
├── scripts/  build.sh, monitor.sh
└── docs/  getting_started.md, architecture.md, adding_systems.md

Quick Start

# Clone into ROS2 workspace
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/MechanicsDSL/mechanicsdsl-ros2.git

# Build
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select mechanicsdsl_pendulum
source install/setup.bash

# Run
ros2 launch mechanicsdsl_pendulum pendulum.launch.py

Docker:

docker build -t mechanicsdsl-ros2:jazzy docker/
docker run --rm -it mechanicsdsl-ros2:jazzy

Monitoring

ros2 topic echo /mechanicsdsl/pendulum/state
ros2 topic hz  /mechanicsdsl/pendulum/state   # should be ~250 Hz

# Reset
ros2 topic pub --once /pendulum/reset std_msgs/msg/Bool "data: true"

Testing

colcon test --packages-select mechanicsdsl_pendulum
colcon test-result --verbose

GTests cover EOM correctness, energy conservation, equilibrium stability, and small-angle period accuracy.

Architecture

See docs/architecture.md for the full node/message/layer diagram.

Adding New Systems

See docs/adding_systems.md.

Contributing

See CONTRIBUTING.md.

License

MIT License — see LICENSE.