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Enable headless mode on ROS2 Humble #157

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Enable headless mode on ROS2 Humble #157

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5 changes: 5 additions & 0 deletions mujoco_ros2_control/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.16)

project(mujoco_ros2_control)

# Detect ROS2 Humble for API compatibility (get_hardware_info() shim)
if("$ENV{ROS_DISTRO}" STREQUAL "humble")
add_definitions(-DROS_DISTRO_HUMBLE)
endif()

find_package(ros2_control_cmake REQUIRED)

# find dependencies
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6 changes: 5 additions & 1 deletion mujoco_ros2_control/src/mujoco_system_interface.cpp
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Expand Up @@ -788,8 +788,12 @@ MujocoSystemInterface::on_init(const hardware_interface::HardwareComponentInterf
const auto lidar_publish_rate =
std::stod(get_hardware_parameter(get_hardware_info(), "lidar_publish_rate").value_or("5.0"));

// Check for headless mode
// Check for headless mode (URDF hardware param or environment variable)
headless_ = hardware_interface::parse_bool(get_hardware_parameter(get_hardware_info(), "headless").value_or("false"));
if (!headless_ && std::getenv("MUJOCO_HEADLESS"))
{
headless_ = true;
}
RCLCPP_INFO_EXPRESSION(get_logger(), headless_, "Running in HEADLESS mode.");

// We essentially reconstruct the 'simulate.cc::main()' function here, and
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