From accffab39cba84a748e3eae68a4de3675172cb61 Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Wed, 23 Sep 2026 12:51:53 +0200 Subject: [PATCH 1/3] Select Lyrical ROSIDL DDS generator and MuJoCo ros2_control --- vinca.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/vinca.yaml b/vinca.yaml index d2228118..9b62c264 100644 --- a/vinca.yaml +++ b/vinca.yaml @@ -179,6 +179,7 @@ packages_select_by_deps: - rosidl_buffer_backend - rosidl_buffer_backend_registry - rosidl_buffer_py + - rosidl_generator_dds_idl - rqt_robot_monitor - rqt_runtime_monitor - rtabmap @@ -203,6 +204,7 @@ packages_select_by_deps: - if: linux then: - libcamera + - mujoco_ros2_control # Isaac ROS deploy / Unitree G1 simulation - nobleo_socketcan_bridge # Depends on socketcan - ros2_socketcan # Depends on socketcan - rosgraph_monitor From 941c2fc5b6b0475171c292de431624c918f8b1bd Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Wed, 23 Sep 2026 13:06:57 +0200 Subject: [PATCH 2/3] Provide OpenGL headers for MuJoCo vendor on Linux --- patch/dependencies.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index d1cd7f1a..fdb53b5d 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -1,3 +1,5 @@ +mujoco_vendor: + add_host: ["libgl-devel"] # MuJoCo's bundled GLFW simulation includes GL/gl.h ament_package: add_host: ['importlib_resources'] foxglove_bridge: From 5b2889a02fbc48e36d58bbf7f0bc8295481719db Mon Sep 17 00:00:00 2001 From: Wolf Vollprecht Date: Wed, 23 Sep 2026 13:19:08 +0200 Subject: [PATCH 3/3] Provide EGL development files for MuJoCo control plugins --- patch/dependencies.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml index fdb53b5d..416fc83b 100644 --- a/patch/dependencies.yaml +++ b/patch/dependencies.yaml @@ -1,5 +1,7 @@ mujoco_vendor: add_host: ["libgl-devel"] # MuJoCo's bundled GLFW simulation includes GL/gl.h +mujoco_ros2_control_plugins: + add_host: ["libegl-devel"] # CMake finds OpenGL COMPONENTS EGL ament_package: add_host: ['importlib_resources'] foxglove_bridge: