Releases: ubi-agni/mujoco_ros_pkgs
Releases · ubi-agni/mujoco_ros_pkgs
0.9.0
Added
- Mocap plugin to programmatically control mocap bodies.
- Services to alter equality constraints. Note that by MuJoCo's design no new constraints can be added, though.
- The Server node now gives a more verbose error message on failure due to mismatched header and library versions.
- Service to get basic simulation state info (loaded model path, model valid, load counter, loading state, paused, pending manual steps, measured rt factor, and rt factor setting).
- Service to set the real-time factor (applies the closest available factor found in the settings).
Fixed
- Repaired SIGINT handler callback.
C-c
in the roslaunch terminal now shuts down the MuJoCo ROS node instead of escalating to SIGTERM. - Added actionlib to the list of mujoco_ros' dependencies.
- Updated CI actions (#33).
- Fixed linking order for mujoco_ros_mocap tests (#33).
- Fixed glx BadAccess error on exit when running with GUI.
- Fixed bug where stepping multiple times to get up to speed with the desired realtime factor would only happen if a viewer was attached.
- Enabling and disabling model flags in the GUI's 'Physics' tab is now applied to the attached environment.
Changed
- replaced
boost::shared_ptr
withstd::shared_ptr
orstd::unique_ptr
wherever possible (ROS 1 fast intra-process message-passing requires boost::shared_ptr). - replaced
shared_ptr
withunique_ptr
wherever possible. - replaced smart pointer constructor initialization with
make_shared
ormake_unique
wherever possible. - Updated to MuJoCo library version 3.2.0.
-
- VFS now only saves models provided as strings. Model loading and caching might change once the
mjSpec
API is more stable and better documented.
- VFS now only saves models provided as strings. Model loading and caching might change once the
-
- Added jointactuatorfrc support in
mujoco_ros_sensors
.
- Added jointactuatorfrc support in
- Updated to clang-tidy-14 (default on jammy).
- Added catkin_lint to pre-commit (i.e. format workflow).
- Introduced helper function to validate service call permissions in evaluation mode.
Contributors: @DavidPL1, @acodeodyssey
0.8.0
Added
- Manual steps now run as fast as possbile. I.e., if a viewer is connected, stepping is interrupted to render the UI at 30Hz. (This now also applies to running with unbound real-time, which previously was interrupted at 30Hz regardless if any viewer was connected).
- Added GitHub Actions for building docker images, CI, and formatting based on MoveIt's configuration (#30).
Fixed
- re-added setting realtime settings via ros param or in the mujoco model xml.
- Add missing install of mujoco_ros's
config
andassets
directories (#28). - Added missing example config for
mujoco_ros_sensors
. - Fixed catkin lint errors (#31).
- Resolved clang-tidy warnings.
Changed
- Reduced sensor noise std in tests to reduce wrongful fails due to too stochasticity.
- Updated toplevel README to be more informative.
- mujoco_ros_control & mujoco_ros_sensors have a Sanitize build type (#31).
Important
Breaking Changes
MujocoPlugin::node_ptr_
now is a NodeHandle instead of a NodeHandlePtr.- MujocoPlugin callbacks now use raw pointers to mjModel and mjData instead of shared pointers in their callbacks (mjModel is even const, thus calls to functions like
mj_id2name
that expect a non-const mjModel pointer need aconst_cast<mjModel *>
to not throw compile errors).
0.7.0
Added
- Updated to MuJoCo library version 2.3.6.
- Added a
step(num_steps=1, blocking=true)
public function. - Unit tests for plugin loading and resetting and running callbacks correctly.
- Now automatically building with AVX instructions, if possible.
- CMake tooling borrowed from deepminds MuJoCo repo and https://github.com/osjacky430/ros_pkg_template/.
Changed
- Moved from static namespace to object oriented application model.
get_load_requeststate
service topic changed toget_loading_request_state
.- Renamed namespaces:
-
mujoco_ros_sensors
->mujoco_ros::sensors
.
-
mujoco_ros_control
->mujoco_ros::control
.
-
MujocoSim
->mujoco_ros
.
-
MujocoSim::detail
-> moved mostly to private access members, namespace is not necessary anymore.
-
MujocoSim::jointName2id
->mujoco_ros::util::jointName2id
.
- Node launchfile arg changed from
visualize
toheadless
for consistency. - Moved most contents of
MujocoSim::rendering::VisualStruct
intomujoco_ros::MujocoEnv::offscreen
. - Renamed
MujocoSim::rendering::CameraStream
->mujoco_ros::rendering::OffscreenCamera
. env_id
members were removed from messages, since env_ids are no longer used.- Added more compiler warnings (see CompilerWarnings.cmake).
Contributors: @DavidPL1
0.6.0
Added
- Signal handling to gracefully exit on SIGINT and SIGTERM.
- docs: Contribution guideline along with commit template.
- Service call to load initial joint states from parameter server.
Changed
- Set GUI default to show info overlay and hide UI1.
Fixed
- Fixed publish rate of camera images (#22).
- Now publishing clock on reload.
- Fixed memory leak caused by missing deallocation of opengl contexts on reload.
- Cameras now publish their first image at timestep 0 instead of waiting for
t = 1/pub_frequency
.
Refactored
- Deprecated
getEnv
,getEnvById
, andunregisterEnv
functions.
Contributors: @DavidPL1, @lbergmann
0.5.0
Added
- Reload service call to either reload current model or supply a new model to load.
- Camera parameters are now available via camera info topics.
- Camera frames are now available in the TF trees.
Changed
- Updated UI functionalities to match simulate version 2.3.3.
- Removed parallel env mode
- Bump MuJoCo required version to 2.3.3
Fixed
- Stepping action server is now sensitive to preemts caused by reload/reset/shutdown and will inform clients in time instead of just severing the connection.
- Missing roll back of collision functions to default on reload caused calling unloaded code.
- An invalid model will not result in trying to reload indefinitely anymore.
Contributors: @DavidPL1, @fpatzelt
Full Changelog: 0.4.0...0.5.0
0.4.0
Added
NO_OPTIM
andENABLE_SANITIZER
cmake options for valgrind/asan dev build optimization.- Central launchfile for the server to include from other packages.
no_x
parameter to completely disable OpenGL.- Service calls to set and get gravity.
- Service call to fetch loadrequest state over ROS.
- Option to disable offscreen rendering.
- Made camera stream resolutions configurable.
- Callback to notify plugins of a geom change at runtime.
Changed
- Use same package version for all packages in mujoco_ros_pkgs, following semver versioning conventions.
Fixed
- Time reset issue caused by delayed ros clock message processing.
- Out of bounds quaternion array access in debug print.
- Make sure env name is not an empty string.
- Memory leaks caused by wrong mjModelPtr and mjDataPtr deallocation.
- Sensor tests.
- Disable x usage in tests.
- Now reusing offscreen buffer glfw window on reset.
- Freeing textures from GPU manually causing an error.
- Stopping simulation on model compilation warning if in headless mode.
- Not setting ctrl signal when loading a keyframe.
- Render callbacks using the wrong scene (#17).
Refactored
- Updated and improved tests.
- More thorough memory deallocation.
Contributors: @DavidPL1, @fpatzelt
Full Changelog: 0.3.1...0.4.0