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ubi-agni / franka_ros_mujoco

Run a Franka Panda simulation in MuJoCo with ROS
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fatal error: mujoco_ros/util.h: No such file or directory #3

Closed rucha6198 closed 5 months ago

rucha6198 commented 5 months ago

When I try to build the franka_mujoco package, I get the following error:

franka_hw_mujoco.cpp:59:10: fatal error: mujoco_ros/util.h: No such file or directory 59 | #include <mujoco_ros/util.h> | ^~~~~~~ compilation terminated.

franka_mujoco/joint.h:60:10: fatal error: mujoco_ros/mujoco_env.h: No such file or directory 60 | #include <mujoco_ros/mujoco_env.h> | ^~~~~~~~~ compilation terminated. make[2]: [CMakeFiles/franka_hw_sim_mujoco.dir/build.make:63: CMakeFiles/franka_hw_sim_mujoco.dir/src/franka_hw_mujoco.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... make[2]: *** [CMakeFiles/franka_hw_sim_mujoco.dir/build.make:102: CMakeFiles/franka_hw_sim_mujoco.dir/src/controller_verifier.cpp.o] Error 1

I do not see a mujoco_env.h file in this repository. Could someone please help me out to solve this error? Thank you.

DavidPL1 commented 5 months ago

This package requires mujoco_ros (which you can find here) as it is used to enable running the franka ROS controllers as plugins in the ROS wrapped MuJoCo simulator.

If you were not aware that this package is a plugin for mujoco_ros, are you sure this is the correct package for your use case? How are intending to use it?

DavidPL1 commented 5 months ago

Can you please provide more information on how you are trying to build this package?

rucha6198 commented 5 months ago

Thank you for your response. I am sorry I am new to Mujoco so I got a bit confused. So basically I want to create a Hardware interface for the Franka Emika Panda in Mujoco. I am using 'catkin build' to build the package.

DavidPL1 commented 5 months ago

No worries. So you intend to use ROS.

Make sure to follow the build instructions listed here: https://github.com/ubi-agni/mujoco_ros_pkgs?tab=readme-ov-file#build-instructions

Alternatively, follow the instructions on this README in the demo repo.

Let me know if this works

rucha6198 commented 5 months ago

Yes, I want to use ROS. Thank you so much for providing the resources. I will follow it and get back to you once I have something. Thanks!

rucha6198 commented 5 months ago

It works fine now. I was not using a different version of Mujoco. Mujoco-2.3.7 is compatible with the package and seems to work fine. Thank you for your help @DavidPL1

DavidPL1 commented 5 months ago

You're welcome. Glad to hear it works!