how to build mujoco 3.3.4 from source, compatible with ROS2, under ubuntu 22.04

[shoeychi]

Intro

Hi!
I am a researcher) at XYZ, I use MuJoCo for my research on ABC.
encounter a problem how to build mujoco from source

My setup

1. cmake -DCMAKE_INSTALL_PREFIX=mujoco ..
2. make & cp -r mujoco /opt/mujoco-3.3.4
3. set environment variables for mujoco
4. download codes for test: https://github.com/Woolfrey/mujoco_ros2.git
5. colcon build --packages-select mujoco_ros2
6. gdb --args install/mujoco_ros2/lib/mujoco_ros2/mujoco_node install/mujoco_ros2/share/mujoco_ros2/model/scene.xml

My question

1. has the following issue:

Starting program: /home/shoey/ros2_ws/install/mujoco_ros2/lib/mujoco_ros2/mujoco_node install/mujoco_ros2/share/mujoco_ros2/model/scene.xml
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/usr/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff5fff640 (LWP 7368)]

Thread 1 "mujoco_node" received signal SIGSEGV, Segmentation fault.
0x0000000000000000 in ?? ()

2. self-built 'libmujoco.so' linked libs

	linux-vdso.so.1 (0x00007ffe1fde8000)
	/usr/lib/x86_64-linux-gnu/libglfw.so.3 (0x0000778a66297000)
	libm.so.6 => /usr/lib/x86_64-linux-gnu/libm.so.6 (0x0000778a65d19000)
	libc.so.6 => /usr/lib/x86_64-linux-gnu/libc.so.6 (0x0000778a65600000)
	/lib64/ld-linux-x86-64.so.2 (0x0000778a66300000)
	libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x0000778a658c0000)
	libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x0000778a6624b000)
	libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x0000778a66245000)
	libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x0000778a6623d000)
	libbsd.so.0 => /usr/lib/x86_64-linux-gnu/libbsd.so.0 (0x0000778a66223000)
	libmd.so.0 => /usr/lib/x86_64-linux-gnu/libmd.so.0 (0x0000778a66216000)

	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x0000778a65a00000)
	libgcc_s.so.1 => /usr/lib/x86_64-linux-gnu/libgcc_s.so.1 (0x0000778a66277000)

3. official-released 'libmujoco.so' linked libs

ldd lib/libmujoco.so
	linux-vdso.so.1 (0x00007ffe6fdf4000)
	/usr/lib/x86_64-linux-gnu/libglfw.so.3 (0x00007c75300c5000)
	libm.so.6 => /usr/lib/x86_64-linux-gnu/libm.so.6 (0x00007c752fb19000)
	libc.so.6 => /usr/lib/x86_64-linux-gnu/libc.so.6 (0x00007c752f800000)
	/lib64/ld-linux-x86-64.so.2 (0x00007c753012e000)
	libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007c752f6c0000)
	libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007c753008f000)
	libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007c7530089000)
	libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007c7530081000)
	libbsd.so.0 => /usr/lib/x86_64-linux-gnu/libbsd.so.0 (0x00007c7530067000)
	libmd.so.0 => /usr/lib/x86_64-linux-gnu/libmd.so.0 (0x00007c753005a000)

libdl.so.2 => /usr/lib/x86_64-linux-gnu/libdl.so.2 (0x00007c75300c0000)
libpthread.so.0 => /usr/lib/x86_64-linux-gnu/libpthread.so.0 (0x00007c75300b9000)

4. my question:

official-released mujoco-3.3.4 works well, but self-built mujoco encounter Segmentation fault. how to build mujoco 3.3.4 from source ?

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[shoeychi]

crash happened when call mj_loadXML.

[shoeychi]

but simulate install/mujoco_ros2/share/mujoco_ros2/model/scene.xml works well.

[anivar]

[shoeychi]

thank you for reply.
I reinstall ubuntu 22.04 to avoid packages conflicts.
but following your guide, still failed and the same segment fault.

environment

gcc (Ubuntu 11.4.0-1ubuntu1~22.04) 11.4.0

g++ (Ubuntu 11.4.0-1ubuntu1~22.04) 11.4.0
cmake version 3.22.1
Linux  6.8.0-64-generic #67~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Jun 24 15:19:46 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

libmujoco.so

$ ldd libmujoco.so
	linux-vdso.so.1 (0x00007ffebe27a000)
	libm.so.6 => /usr/lib/x86_64-linux-gnu/libm.so.6 (0x00007c0a2f413000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007c0a2ec00000)
	libgcc_s.so.1 => /usr/lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007c0a2f3f3000)
	libc.so.6 => /usr/lib/x86_64-linux-gnu/libc.so.6 (0x00007c0a2e800000)
	/lib64/ld-linux-x86-64.so.2 (0x00007c0a2f4fc000)

test mujoco

100% tests passed, 0 tests failed out of 761

Total Test time (real) =  70.84 sec

mj_loadXML symbol exist

$ nm -D libmujoco.so | grep mj_loadXML
00000000001d3d30 T mj_loadXML

simple example

test_node.zip

now no idea, how to deal with?

[DavidPL1]

@shoeychi, as you are reporting that simulate works while the ros node does not, this error seems to be caused by the code of the repository you are using. I suggest you open an issue in their repository.

In case your problems persist, see if the ROS Humble branch of our MuJoCo ROS Simulator could help you with your project.

@anivar Your clearly LLM generated responses are not helpful, misleading and don't really address the reported issue. Please don't post responses without checking their content.