Laikago working with ROS. The test environment is: Ubuntu 16.04 + ROS Kinetic.
Instructions:
Dependencies:
If you want to simulate with Gazebo:
Build:
cd ~/path-to-catkin-workspace(for example, replace 'path-to-catkin-workspace' with 'catkin_ws')catkin_makesource ~/path-to-catkin-workspace/devel/setup.bash
laikago_controller:
This ros-type controller allow user control joints with position, velocity and torque.
laikago_msgs:
ros-type message, including command and state of high-level and low-level control. It would be better if it be compiled firstly, otherwise you may have dependency problems (such as that you can't find the header file).
laikago_description:
including mesh, urdf and xacro files of laikago.
roslaunch laikago_description laikago_rviz.launch
The robot should be spawned in Rviz.
laikago_gazebo:
Gazebo8 is recommended. Notice that it is not compatible with other versions like Gazebo7. Make sure unders have been installed:
sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-position-controllers ros-kinetic-robot-controllers ros-kinetic-robot-state-publisher ros-kinetic-gazebo8-ros ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-dev
roslaunch laikago_gazebo normal.launch
The robot should be lying on the ground with joints not activated.
rosrun laikago_gazebo laikago_servo
The robot will stand up slowly.
rosrun laikago_gazebo laikago_external_force
You can add external disturbances with this node, like a push or a kick.