Enable colcon rolling build in ROS 2 workspace

CMakeLists.txt

@@ -2,6 +2,49 @@ cmake_minimum_required(VERSION 3.16)
 
 project(mujoco_ros2_control)
 
+# Find mold linker (required dependency, Linux only)
+# mold is Linux-specific and not available on macOS/Windows
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  find_program(MOLD_LINKER
+    NAMES mold
+    PATHS /usr/bin /usr/local/bin /opt/conda/bin ${CONDA_PREFIX}/bin
+    NO_DEFAULT_PATH
+  )
+  if(NOT MOLD_LINKER)
+    find_program(MOLD_LINKER mold)
+  endif()
+
+  if(NOT MOLD_LINKER)
+    message(FATAL_ERROR "mold linker not found. Please install mold: sudo apt-get install mold")
+  endif()
+  message(STATUS "Found mold linker: ${MOLD_LINKER}")
+
+  # Set mold as the linker if not already set via environment
+  if(NOT DEFINED ENV{CXXFLAGS} OR NOT "$ENV{CXXFLAGS}" MATCHES "-fuse-ld=mold")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=mold")
+    set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=mold")
+    message(STATUS "Using mold linker for faster builds")
+  endif()
+else()
+  message(STATUS "mold linker skipped (not available on ${CMAKE_SYSTEM_NAME})")
+endif()
+
+# Find sccache (required dependency for compiler caching)
+# Try multiple methods: standard PATH, common install locations
+find_program(SCCACHE_PROGRAM
+  NAMES sccache
+  PATHS /usr/bin /usr/local/bin /opt/conda/bin ${CONDA_PREFIX}/bin
+  NO_DEFAULT_PATH
+)
+if(NOT SCCACHE_PROGRAM)
+  find_program(SCCACHE_PROGRAM sccache)
+endif()
+
+if(NOT SCCACHE_PROGRAM)
+  message(FATAL_ERROR "sccache not found. Please install sccache: sudo apt-get install sccache (or via cargo: cargo install sccache)")
+endif()
+message(STATUS "Found sccache: ${SCCACHE_PROGRAM}")
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -10,7 +53,67 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(controller_manager REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(glfw3 REQUIRED)
+
+# Find GLFW
+# Standard approach: use pkg-config for system packages (libglfw3-dev provides .pc file)
+# Fallback to CMake config for conda/pixi environments, then manual find
+find_package(PkgConfig QUIET)
+if(PkgConfig_FOUND)
+  pkg_check_modules(GLFW3 glfw3)
+endif()
+
+if(GLFW3_FOUND)
+  # Create glfw target from pkg-config (standard for system packages)
+  # Use find_library to get actual library path for proper linking
+  find_library(GLFW3_LIBRARY_FILE
+    NAMES glfw glfw3
+    PATHS ${GLFW3_LIBRARY_DIRS} /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
+    NO_DEFAULT_PATH
+  )
+  if(NOT GLFW3_LIBRARY_FILE)
+    find_library(GLFW3_LIBRARY_FILE NAMES glfw glfw3)
+  endif()
+  if(GLFW3_LIBRARY_FILE)
+    add_library(glfw INTERFACE)
+    target_include_directories(glfw INTERFACE ${GLFW3_INCLUDE_DIRS})
+    target_link_libraries(glfw INTERFACE ${GLFW3_LIBRARY_FILE})
+    target_compile_options(glfw INTERFACE ${GLFW3_CFLAGS_OTHER})
+  else()
+    # Fallback to pkg-config libraries if find_library fails
+    add_library(glfw INTERFACE)
+    target_include_directories(glfw INTERFACE ${GLFW3_INCLUDE_DIRS})
+    target_link_libraries(glfw INTERFACE ${GLFW3_LIBRARIES})
+    target_compile_options(glfw INTERFACE ${GLFW3_CFLAGS_OTHER})
+  endif()
+else()
+  # Fallback: try CMake config (for conda/pixi environments)
+  find_package(glfw3 QUIET)
+  if(glfw3_FOUND)
+    if(TARGET glfw3::glfw3 AND NOT TARGET glfw)
+      add_library(glfw ALIAS glfw3::glfw3)
+    elseif(TARGET glfw3 AND NOT TARGET glfw)
+      add_library(glfw ALIAS glfw3)
+    endif()
+  else()
+    # Last resort: manual find (shouldn't be needed if libglfw3-dev is installed)
+    find_library(GLFW3_LIBRARY
+      NAMES glfw glfw3
+      PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
+    )
+    find_path(GLFW3_INCLUDE_DIR
+      NAMES GLFW/glfw3.h
+      PATHS /usr/include /usr/local/include
+    )
+    if(GLFW3_LIBRARY AND GLFW3_INCLUDE_DIR)
+      add_library(glfw INTERFACE)
+      target_include_directories(glfw INTERFACE ${GLFW3_INCLUDE_DIR})
+      target_link_libraries(glfw INTERFACE ${GLFW3_LIBRARY})
+    else()
+      message(FATAL_ERROR "GLFW3 not found. Please install libglfw3-dev: sudo apt-get install libglfw3-dev")
+    endif()
+  endif()
+endif()
+
 find_package(control_toolbox REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -129,7 +232,7 @@ target_include_directories(
   platform_ui_adapter PUBLIC ${MUJOCO_SIMULATE_DIR} ${MUJOCO_INCLUDE_DIR}
                              $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
 )
-target_link_libraries(platform_ui_adapter PUBLIC ${MUJOCO_LIB})
+target_link_libraries(platform_ui_adapter PUBLIC ${MUJOCO_LIB} glfw)
 target_compile_options(platform_ui_adapter PRIVATE ${MUJOCO_SILENCE_COMPILER_WARNINGS})
 add_library(mujoco::platform_ui_adapter ALIAS platform_ui_adapter)
 
@@ -145,7 +248,7 @@ target_sources(
   PRIVATE ${MUJOCO_SIMULATE_DIR}/simulate.cc ${MUJOCO_SIMULATE_DIR}/array_safety.h
 )
 target_include_directories(libsimulate PUBLIC ${MUJOCO_SIMULATE_DIR} ${MUJOCO_INCLUDE_DIR})
-target_link_libraries(libsimulate PUBLIC lodepng mujoco::platform_ui_adapter ${MUJOCO_LIB})
+target_link_libraries(libsimulate PUBLIC lodepng mujoco::platform_ui_adapter ${MUJOCO_LIB} glfw)
 target_compile_options(libsimulate PRIVATE ${MUJOCO_SILENCE_COMPILER_WARNINGS})
 
 # Mujoco ROS 2 control system interface (this package)

docs/DEVELOPMENT.md

@@ -79,3 +79,48 @@ ros2 launch mujoco_ros2_control test_robot.launch.py
 
 Users may need to tweak the compose file to support their specific host OS or GPUs.
 For more information refer to the comments in the compose file.
+
+## Development Workflow within ROS 2 Workspace
+
+This package can be built in a standard ROS 2 workspace on Linux/Ubuntu. This workflow is recommended for integrating with existing ROS 2 workspaces or for developers working with rolling builds from `ros2_control` or `ros2_controllers` projects. For isolated development environments, consider using the [Docker Development Workflow](#docker-development-workflow) or [Pixi Development Workflow](#pixi-development-workflow) instead.
+
+> [!WARNING]
+> Special care is needed when building in a ROS 2 workspace because ROS 2 packages from system installations or rolling builds may not be compatible with the versions pinned in `pixi.lock`. Version mismatches can cause ABI incompatibilities leading to segmentation faults (SIGSEGV) during runtime, such as `ros2_control_node` crashing with exit code -11 during hardware initialization. Ensure that your ROS 2 workspace uses compatible package versions to avoid build conflicts and runtime crashes. See [issue #30](https://github.com/ros-controls/mujoco_ros2_control/issues/30) for more details.
+
+### Dependencies
+
+Install required system dependencies:
+
+```bash
+# Install ROS 2 dependencies via rosdep
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install --from-paths src --ignore-src -r -y
+
+# Install additional build dependencies
+sudo apt-get install libglfw3-dev sccache mold
+```
+
+**Note:** `mold` is a Linux-only linker optimization. On macOS/Windows, it will be automatically skipped during the build.
+
+### Build
+
+From your ROS 2 workspace root:
+
+```bash
+# Source ROS 2 installation
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+# Build the package
+colcon build --symlink-install --packages-select mujoco_ros2_control
+
+# Source the workspace
+source install/setup.bash
+```
+
+The build system will:
+- Automatically download MuJoCo 3.3.4 if not found locally
+- Use `pkg-config` to find GLFW (system package) or fall back to CMake config (conda/pixi environments)
+- Require `sccache` for compiler caching (cross-platform)
+- Require `mold` linker on Linux for faster linking (skipped on other platforms)
+
+If any required dependency is missing, CMake will provide clear error messages with installation instructions.

package.xml

@@ -13,6 +13,7 @@
   <depend>controller_manager</depend>
   <depend>hardware_interface</depend>
   <depend>libglfw3-dev</depend>
+  <depend>sccache</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>