Sync feature/isaac-deploy from internal fork#2
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lgulich wants to merge 13 commits intoNVIDIA-ISAAC-ROS:impedence-control-supportfrom
Open
Sync feature/isaac-deploy from internal fork#2lgulich wants to merge 13 commits intoNVIDIA-ISAAC-ROS:impedence-control-supportfrom
lgulich wants to merge 13 commits intoNVIDIA-ISAAC-ROS:impedence-control-supportfrom
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- Add TF2 broadcaster for floating base (publishes odom_frame -> body transform) - Add configurable odom_frame parameter (defaults to "odom") - Add publish_floating_base_tf parameter to enable/disable TF publishing - Add kp/kd command interfaces for impedance control mode - Impedance control computes: effort = effort_ff + kp * (pos_cmd - pos) + kd * (vel_cmd - vel) - Handle NaN values gracefully in impedance control - Support combined position/velocity/effort with kp/kd for full impedance control
- Add /mujoco/reset service to reset simulation to initial state - Use mj_resetData() to properly reset all qpos, qvel, and time - Simplify getExecutableDir() using std::filesystem::path - Use value_or() pattern in get_hardware_parameter_or - Remove unused clamp() function and render members - Simplify lambdas and use range-based for loops Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Write impedance effort through MuJoCo's actuator system (ctrl[]) instead of directly to joint forces (qfrc_applied[]), so it goes through the MJCF <motor> actuators defined in the model. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Add build targets for MuJoCo hardware interface plugin, simulate module, ros2_control_node binary, and ament_index package registration. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Add tags = ["nolint"] to ros2_cc_library and ros2_cc_binary targets since this is third-party code not subject to our linting rules. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Replace local mujoco/mujoco-3.4.0/ directory references with @Mujoco http_archive from GitHub releases. This fixes CI which couldn't access the gitignored mujoco directory. Also disables lint tests (nolint tag) since this is third-party code. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
The mujoco simulate module includes GLFW/glfw3.h which comes from the system libglfw3-dev package. CI remote executors don't have this package, so provide headers via an http_archive instead. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
The GLFW header includes GL/gl.h by default which isn't available on CI remote executors. MuJoCo simulate doesn't need OpenGL headers directly, so define GLFW_INCLUDE_NONE to skip the include. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Build GLFW from its GitHub release source using the _GLFW_NULL headless backend so no X11/Wayland/GL system headers are needed. Remove -lglfw system link flag since GLFW is now a proper Bazel dependency. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
…code - Rename PKG to DEPLOY_ROS2_CONTROL for clarity - Add _HARDWARE_INTERFACE_DEPS_SPDLOG_SAFE using :libfmt_hdrs_only to avoid spdlog's bundled fmt/ shadowing real libfmt-dev headers via -isystem ordering - Add _LIBFMT_COPTS with explicit -I path for fmt headers - Add tags = ["nolint"] to suppress cpplint/copyright/uncrustify on third-party code - Add SPDLOG_FMT_EXTERNAL define Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
mj_resetData sets mj_data_->time back to 0, which caused the /clock topic to jump backward. With use_sim_time=true on the controller manager this produced negative measured_period values that corrupted PID controllers and destabilised learned policies. Track a cumulative clock_offset_ that is incremented by the current sim time before each reset, and add it in publish_clock() so the published time never decreases. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
Pushes the
feature/isaac-deploybranch from the internal GitLab fork to GitHub. This branch includes:impedence-control-support539f50eRemove Bazel build files for CMake-only branchd87b6b0Keep published /clock monotonic across simulation resetsThis branch is needed so the isaac monorepo submodule can reference commit
d87b6b0from GitHub instead of from the internal GitLab fork.Context: Part of migrating the mujoco_ros2_control submodule in the isaac monorepo from the internal GitLab fork to the public GitHub repo (requested in Isaac/isaac MR !5524).