0.9.0

Added

• Mocap plugin to programmatically control mocap bodies.
• Services to alter equality constraints. Note that by MuJoCo's design no new constraints can be added, though.
• The Server node now gives a more verbose error message on failure due to mismatched header and library versions.
• Service to get basic simulation state info (loaded model path, model valid, load counter, loading state, paused, pending manual steps, measured rt factor, and rt factor setting).
• Service to set the real-time factor (applies the closest available factor found in the settings).

Fixed

• Repaired SIGINT handler callback. C-c in the roslaunch terminal now shuts down the MuJoCo ROS node instead of escalating to SIGTERM.
• Added actionlib to the list of mujoco_ros' dependencies.
• Updated CI actions (#33).
• Fixed linking order for mujoco_ros_mocap tests (#33).
• Fixed glx BadAccess error on exit when running with GUI.
• Fixed bug where stepping multiple times to get up to speed with the desired realtime factor would only happen if a viewer was attached.
• Enabling and disabling model flags in the GUI's 'Physics' tab is now applied to the attached environment.

Changed

• replaced boost::shared_ptr with std::shared_ptr or std::unique_ptr wherever possible (ROS 1 fast intra-process message-passing requires boost::shared_ptr).
• replaced shared_ptr with unique_ptr wherever possible.
• replaced smart pointer constructor initialization with make_shared or make_unique wherever possible.
• Updated to MuJoCo library version 3.2.0.
• • VFS now only saves models provided as strings. Model loading and caching might change once the mjSpec API is more stable and better documented.
• • Added jointactuatorfrc support in mujoco_ros_sensors.
• Updated to clang-tidy-14 (default on jammy).
• Added catkin_lint to pre-commit (i.e. format workflow).
• Introduced helper function to validate service call permissions in evaluation mode.

Contributors: @DavidPL1, @acodeodyssey