3.3.4

[comploplo]

See the changelog.

---

This discussion was created from the release 3.3.4.

[shoeychi]

how to build mujoco from source compatible with ROS2 Node?

[shoeychi]

my environment:

ubuntu22.04,
gcc (Ubuntu 11.4.0-1ubuntu1~22.04) 11.4.0
g++ (Ubuntu 11.4.0-1ubuntu1~22.04) 11.4.0
clang version: Ubuntu clang version 14.0.0-1ubuntu1.1
clang++ version: Ubuntu clang version 14.0.0-1ubuntu1.1
cmake version 3.31.8

cmake setting (following the file build.yml)

cmake ..   -G Ninja \
 -DCMAKE_C_COMPILER:STRING=clang \
 -DCMAKE_CXX_COMPILER:STRING=clang++ \
 -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -stdlib=libc++" \
 -DMUJOCO_HARDEN:BOOL=ON \
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
-DCMAKE_BUILD_TYPE:STRING=Release \
-DCMAKE_INSTALL_PREFIX=mujoco

generated libmujoco.so

$ ldd libmujoco.so
	linux-vdso.so.1 (0x00007ffc01dc2000)
	libm.so.6 => /usr/lib/x86_64-linux-gnu/libm.so.6 (0x00007ec7b6919000)
	libc++.so.1 => /usr/lib/x86_64-linux-gnu/libc++.so.1 (0x00007ec7b6824000)
	libunwind.so.1 => /usr/lib/x86_64-linux-gnu/libunwind.so.1 (0x00007ec7b6e6b000)
	libc++abi.so.1 => /usr/lib/x86_64-linux-gnu/libc++abi.so.1 (0x00007ec7b6e35000)
	libgcc_s.so.1 => /usr/lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007ec7b6e13000)
	libc.so.6 => /usr/lib/x86_64-linux-gnu/libc.so.6 (0x00007ec7b6400000)
	/lib64/ld-linux-x86-64.so.2 (0x00007ec7b6e78000)

Result: not compatible with ROS2

Starting program: /home/shoey/ros2_ws/install/mujoco_ros2/lib/mujoco_ros2/mujoco_node install/mujoco_ros2/share/mujoco_ros2/model/scene.xml
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/usr/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff5fff640 (LWP 7368)]

Thread 1 "mujoco_node" received signal SIGSEGV, Segmentation fault.
0x0000000000000000 in ?? ()

[amugoodbad229]

For some reason, ''simulate'' interface is broken. Need a fix.

[UNICORN-2887]

FATAL PROBLEM:
stl file can be opened singlarly, but when I add joint relationship between them, the models disappear.
however, I can view the skeleton by key "F6 F7" and key"A", and the joint control is work still.
then I replace the roboarm with simple cylinder, it work yet. But I cant analyse the collision and interaction with environment.




I ask deepseek and search at Bilibili CSDN, and ask my experiment-mate, in vain.
I not sure whether this is a bug or just my code or model wrong.
Looking forward your promptly reply.