Remove non build related local changes

Author: Juliaj

src/mujoco_cameras.cpp

@@ -198,23 +198,12 @@ void MujocoCameras::update_loop()
 
 void MujocoCameras::update()
 {
-  // Safety check: ensure model and data are still valid
-  if (!mj_model_ || !mj_data_ || !mj_camera_data_)
-  {
-    return;
-  }
-
   // Rendering is done offscreen
   mjr_setBuffer(mjFB_OFFSCREEN, &mjr_con_);
 
   // Step 1: Lock the sim and copy data for use in all camera rendering.
   {
     std::unique_lock<std::recursive_mutex> lock(*sim_mutex_);
-    // Double-check after acquiring lock (model/data might be deleted during shutdown)
-    if (!mj_model_ || !mj_data_ || !mj_camera_data_)
-    {
-      return;
-    }
     mjv_copyData(mj_camera_data_, mj_model_, mj_data_);
   }
 

src/mujoco_system_interface.cpp

@@ -463,29 +463,26 @@ MujocoSystemInterface::MujocoSystemInterface() = default;
 
 MujocoSystemInterface::~MujocoSystemInterface()
 {
-  // Stop camera rendering loop (if not already stopped in on_deactivate)
+  // Stop camera rendering loop
   if (cameras_)
   {
     cameras_->close();
   }
 
-  // Stop lidar sensor loop (if not already stopped in on_deactivate)
+  // Stop lidar sensor loop
   if (lidar_sensors_)
   {
     lidar_sensors_->close();
   }
 
-  // Stop ROS executor
+  // Stop ROS
   if (executor_)
   {
     executor_->cancel();
-    if (executor_thread_.joinable())
-    {
-      executor_thread_.join();
-    }
+    executor_thread_.join();
   }
 
-  // If sim_ is created and running, clean shut it down (if not already stopped in on_deactivate)
+  // If sim_ is created and running, clean shut it down
   if (sim_)
   {
     sim_->exitrequest.store(true);
@@ -502,21 +499,17 @@ MujocoSystemInterface::~MujocoSystemInterface()
   }
 
   // Cleanup data and the model, if they haven't been
-  // Only cleanup after all threads are stopped to avoid race conditions
   if (mj_data_)
   {
     mj_deleteData(mj_data_);
-    mj_data_ = nullptr;
   }
   if (mj_data_control_)
   {
     mj_deleteData(mj_data_control_);
-    mj_data_control_ = nullptr;
   }
   if (mj_model_)
   {
     mj_deleteModel(mj_model_);
-    mj_model_ = nullptr;
   }
 }
 
@@ -953,42 +946,7 @@ MujocoSystemInterface::on_deactivate(const rclcpp_lifecycle::State& /*previous_s
 {
   RCLCPP_INFO(get_logger(), "Deactivating MuJoCo hardware interface and shutting down Simulate...");
 
-  // Stop ROS executor first (it may be publishing clock or accessing resources)
-  if (executor_)
-  {
-    executor_->cancel();
-    if (executor_thread_.joinable())
-    {
-      executor_thread_.join();
-    }
-  }
-
-  // Stop camera and lidar rendering loops before ROS context becomes invalid
-  if (cameras_)
-  {
-    cameras_->close();
-  }
-
-  if (lidar_sensors_)
-  {
-    lidar_sensors_->close();
-  }
-
-  // Stop physics and UI threads before ROS context becomes invalid
-  if (sim_)
-  {
-    sim_->exitrequest.store(true);
-    sim_->run = false;
-
-    if (physics_thread_.joinable())
-    {
-      physics_thread_.join();
-    }
-    if (ui_thread_.joinable())
-    {
-      ui_thread_.join();
-    }
-  }
+  // TODO: Should we shut mujoco things down here or in the destructor?
 
   return hardware_interface::CallbackReturn::SUCCESS;
 }
@@ -1675,7 +1633,7 @@ void MujocoSystemInterface::PhysicsLoop()
   mjtNum syncSim = 0;
 
   // run until asked to exit
-  while (sim_ && !sim_->exitrequest.load())
+  while (!sim_->exitrequest.load())
   {
     // sleep for 1 ms or yield, to let main thread run
     //  yield results in busy wait - which has better timing but kills battery life
@@ -1689,21 +1647,9 @@ void MujocoSystemInterface::PhysicsLoop()
     }
 
     {
-      // Safety check: ensure sim_ and sim_mutex_ are still valid
-      if (!sim_ || !sim_mutex_)
-      {
-        break;
-      }
-
       // lock the sim mutex during the update
       const std::unique_lock<std::recursive_mutex> lock(*sim_mutex_);
 
-      // Double-check after acquiring lock (sim_ might be deleted during shutdown)
-      if (!sim_ || !mj_model_ || !mj_data_)
-      {
-        break;
-      }
-
       // run only if model is present
       if (mj_model_)
       {
@@ -1835,12 +1781,6 @@ void MujocoSystemInterface::PhysicsLoop()
 
 void MujocoSystemInterface::publish_clock()
 {
-  // Safety check: ensure mj_data_ is still valid (may be deleted during shutdown)
-  if (!mj_data_ || !clock_realtime_publisher_)
-  {
-    return;
-  }
-
   auto sim_time = mj_data_->time;
   int32_t sim_time_sec = static_cast<int32_t>(std::floor(sim_time));
   uint32_t sim_time_nanosec = static_cast<uint32_t>((sim_time - sim_time_sec) * 1e9);