[Question] Has anyone integrated MuJoCo MPC with ROS2 for real-time control

Hi everyone,

I was wondering if anyone has already integrated MuJoCo MPC with ROS2.
Specifically, I’m looking for a setup where a ROS2 node reads the current robot state (either from a real robot or from Gazebo) and then outputs the optimal control command computed by the MPC.

Has anyone implemented such a bridge or node?
If so, I’d really appreciate any pointers, example repositories, or advice on how to properly connect MuJoCo MPC’s control loop with ROS2 topics/services.

Thanks in advance!
Alberto