Laikago working with ROS. The test environment is: Ubuntu 16.04 + ROS Kinetic.

Instructions:

Dependencies:

If you want to simulate with Gazebo:

Gazebo8

Build:

cd ~/path-to-catkin-workspace (for example, replace 'path-to-catkin-workspace' with 'catkin_ws')
catkin_make
source ~/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.