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[MuJoCo] enable to use mujoco simulator #557
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…les for each robot
…, and also update bringup launch files for all robots
…st mujoco_ros_control
I found that following command is not support in ubuntu:xenial with ros kinetic.
This cuase following error, which I think the version of blender (2.75) is too old or has some bug.
After a lot of trial and consideration, I decide to give up to convert collada to stl in kinetic distribution which is no longer used by our current active members. But we still need to pass CI for kinetic distribution. So I am going to add a condition processing that skips the conversion in the CMakeLists.txt for each robot. |
@tongtybj I agree with you. |
…the URDF file to mujoco model
[MuJoCo] refactor the package of aerial_robot_simulation
can you add a rostest that uses MuJoCo for mini_quadrotor? |
I found that mujoco model include error is occuring in rostest. |
Yes, it is absolutely wired. |
Interesting result:
https://github.com/tongtybj/aerial_robot/actions/runs/6605040325/job/17939813433#step:5:7544 |
#557 (comment) is solved by sugikazu75#3 |
[Mujoco][Github Action] avoid to back to the original path because of the symbolic link
[Mujoco][Mini Quadrotor] skip mujoco test in ubuntu 16.04 kinetic
@tongtybj I want you to merge JSKAerialRobot/aerial_robot_3rdparty#14 and JSKAerialRobot/aerial_robot_3rdparty#15. |
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LTGM
include_directories( | ||
${catkin_INCLUDE_DIRS} | ||
${GAZEBO_INCLUDE_DIRS} | ||
include | ||
${MUJOCO_ROOT_DIR}/include |
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This line causes following error in catkin-lint, because this directory would not appear before build.
https://github.com/jsk-ros-pkg/jsk_aerial_robot/actions/runs/6167161992/job/16737709229?pr=557#step:6:86
So, I suggest move the installation of mujoco to https://github.com/JSKAerialRobot/aerial_robot_3rdparty, and refer to https://github.com/JSKAerialRobot/aerial_robot_3rdparty/tree/master/3rdparty/osqp to insatall mujuco header files and libraries.
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If you agree with this idea, we can also move aerial_robot_simulation/src/mujoco_ros_control.cpp and aerial_robot_simulation/src/mujoco_visualization_utils.cpp to https://github.com/JSKAerialRobot/aerial_robot_3rdparty/tree/master
mujoco_ros_control::MujocoRosControl mujoco_ros_control(nh); | ||
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// viewer | ||
MujocoVisualizationUtils &mujoco_visualization_utils = MujocoVisualizationUtils::getInstance(); |
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@sugikazu75 Please consider the headless mode for mojuco. The most straightfoward way is to comment out the related codes if the headless
flag is true. headless
flag can be set from rosparam
Eventually, we succeed to merge this PR as a new milestone for our system. Thanks for your tremendous effort! BTW, I hope you can draw a new diagram about our simulation system based on UML proposed in #565 . |
what is this
simulation interface for mujoco simulator.
usage
then,
mujoco_dragon.mp4
TODO