0.8.0

Added

• Manual steps now run as fast as possbile. I.e., if a viewer is connected, stepping is interrupted to render the UI at 30Hz. (This now also applies to running with unbound real-time, which previously was interrupted at 30Hz regardless if any viewer was connected).
• Added GitHub Actions for building docker images, CI, and formatting based on MoveIt's configuration (#30).

Fixed

• re-added setting realtime settings via ros param or in the mujoco model xml.
• Add missing install of mujoco_ros's config and assets directories (#28).
• Added missing example config for mujoco_ros_sensors.
• Fixed catkin lint errors (#31).
• Resolved clang-tidy warnings.

Changed

• Reduced sensor noise std in tests to reduce wrongful fails due to too stochasticity.
• Updated toplevel README to be more informative.
• mujoco_ros_control & mujoco_ros_sensors have a Sanitize build type (#31).

Important

Breaking Changes

• MujocoPlugin::node_ptr_ now is a NodeHandle instead of a NodeHandlePtr.
• MujocoPlugin callbacks now use raw pointers to mjModel and mjData instead of shared pointers in their callbacks (mjModel is even const, thus calls to functions like mj_id2name that expect a non-const mjModel pointer need a const_cast<mjModel *> to not throw compile errors).

Contributors: @DavidPL1, @LeroyR, @rhaschke