MujocoInterface

It was necessary to link the library during run time. echo 'export LD_LIBRARY_PATH=/opt/mujoco/mujoco-3.2.6/lib:$LD_LIBRARY_PATH' >> ~/.bashrc source ~/.bashrc

every message length is taken from _model->nu rather than nq, coz number of joints are alot more if soft body is added!

plugin is required to load if using plugins in xml.

hw_interface_node

mujoco_hw_interface_node renamed to iiwa in CmakeLists.txt, and the controller is also spawned with ns=/"iiwa". Controller yaml ns is also iiwa. Now controller manager services are loaded based on the node handle. If the node handle is ros::Nodehandle nh("~"), the rosservice will be /node_name/controller_manager/..., if the ros::Nodehandle nh(), the rosservice will be /controller_manager/...

ROS Controller important

hardware interfaces are registered in the mujoco_hw_interface_test. When the controller is loaded, the commands are populated automatically through the interface!! i.e. there is no need to subscribe from the controller topic !!