From 58f5fca91b26d26032a4b3ef51b4c0b73889a5fb Mon Sep 17 00:00:00 2001
From: David Leins <dleins@techfak.uni-bielefeld.de>
Date: Thu, 5 Dec 2024 16:17:45 +0100
Subject: [PATCH] gh: debug egl runner

---
 .github/workflows/ci.yaml     | 31 +++++++++++++++++++++++--------
 mujoco_ros/src/mujoco_env.cpp |  8 +++++++-
 2 files changed, 30 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 5965877..5ed168a 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -23,16 +23,31 @@ jobs:
         distro: [noetic, one]
         render_backend: [GLFW, OSMESA, EGL, DISABLE]
         mujoco: [3.2.0]
-        include:
+        # include:
+        #   - distro: noetic
+        #     mujoco: 3.2.0
+        #     env:
+        #       CATKIN_LINT: true
+        #       CCOV: true
+        #   - distro: one
+        #     mujoco: 3.2.0
+        #     env:
+        #       CLANG_TIDY: pedantic
+        exclude:
           - distro: noetic
-            mujoco: 3.2.0
-            env:
-              CATKIN_LINT: true
-              CCOV: true
+            render_backend: GLFW
+          - distro: noetic
+            render_backend: OSMESA
+          - distro: noetic
+            render_backend: EGL
+          - distro: noetic
+            render_backend: DISABLE
+          - distro: one
+            render_backend: GLFW
+          - distro: one
+            render_backend: OSMESA
           - distro: one
-            mujoco: 3.2.0
-            env:
-              CLANG_TIDY: pedantic
+            render_backend: DISABLE
 
     env:
       BUILDER: colcon
diff --git a/mujoco_ros/src/mujoco_env.cpp b/mujoco_ros/src/mujoco_env.cpp
index e35554f..4a6fffe 100644
--- a/mujoco_ros/src/mujoco_env.cpp
+++ b/mujoco_ros/src/mujoco_env.cpp
@@ -86,16 +86,21 @@ MujocoEnv::MujocoEnv(const std::string &admin_hash /* = std::string()*/)
 	nh_ = std::make_unique<ros::NodeHandle>("~");
 	ROS_DEBUG_STREAM("New MujocoEnv created");
 
+	ROS_WARN("MuJoCo ROS Server is starting ...");
 	if (!admin_hash.empty()) {
+		ROS_WARN("Hash not empty");
 		mju::strcpy_arr(settings_.admin_hash, admin_hash.c_str());
 	} else {
 		// make sure hash is empty and null-terminated
 		settings_.admin_hash[0] = '\0';
 	}
 
+	ROS_WARN("Getting eval mode...");
 	nh_->param<bool>("eval_mode", settings_.eval_mode, false);
 	if (settings_.eval_mode) {
-		ROS_INFO("Running in evaluation mode. Parsing admin hash...");
+		ROS_WARN("Running in evaluation mode. Parsing admin hash...");
+		ROS_WARN("Admin hash: %s", settings_.admin_hash);
+		ROS_WARN("Admin[0]: %c", settings_.admin_hash[0]);
 		if (!settings_.admin_hash[0]) {
 			ROS_ERROR_NAMED("mujoco", "Evaluation mode requires a hash to verify critical operations are allowed. No "
 			                          "hash was provided, aborting launch.");
@@ -106,6 +111,7 @@ MujocoEnv::MujocoEnv(const std::string &admin_hash /* = std::string()*/)
 		}
 	}
 
+	ROS_WARN("Checking sim time");
 	if (!ros::param::get("/use_sim_time", settings_.use_sim_time)) {
 		ROS_FATAL_NAMED("mujoco", "/use_sim_time ROS param is unset. This node requires you to explicitly set it to true "
 		                          "or false. Also Make sure it is set before starting any node, "