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Commit 8587f782 authored by fanmingluo's avatar fanmingluo
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laikago init

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      .gitignore 0 → 100644
      View file @ 8587f782
      .DS_Store
      *.zip
      *.pt
      *.pttxt
      cmake-build-debug
      .idea
      build
      laikago_model/urdf/laikago.xml 0 → 100644
      View file @ 8587f782
      <mujoco model="laikago_description">
      <compiler angle="radian" meshdir="/Users/fanmingluo/Desktop/laikago_simulator/laikago_model/meshes/"/>
      <size njmax="500" nconmax="100" />
      <asset>
      <mesh name="trunk" file="trunk.stl" />
      <mesh name="hip" file="hip.stl" />
      <mesh name="thigh_mirror" file="thigh_mirror.stl" />
      <mesh name="calf" file="calf.stl" />
      <mesh name="thigh" file="thigh.stl" />
      <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
      <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
      <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
      rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
      <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
      <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
      </asset>
      <worldbody>
      <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
      <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
      <light mode="targetbodycom" target="trunk" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
      <body name="trunk" pos="0 0 0.7">
      <freejoint name="root"/>
      <inertial pos="0.002284 -4.1e-05 0.025165" quat="-0.00605949 0.710803 -0.00734309 0.703327" mass="13.733" diaginertia="0.254491 0.250684 0.0733281" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" mesh="trunk" />
      <geom size="0.2808 0.086 0.09375" pos="0 0 0.01675" type="box" rgba="1 0.423529 0.0392157 0" />
      <body name="FR_hip" pos="0.21935 -0.0875 0">
      <inertial pos="-0.001568 0.008134 0.000864" quat="0.629953 0.350191 0.35823 0.593462" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
      <joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
      <geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
      <geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" />
      <body name="FR_thigh" pos="0 -0.037 0">
      <inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
      <joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
      <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" />
      <body name="FR_calf" pos="0 0 -0.25">
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      <joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
      <geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
      </body>
      </body>
      </body>
      <body name="FL_hip" pos="0.21935 0.0875 0">
      <inertial pos="-0.001568 -0.008134 0.000864" quat="0.593462 0.35823 0.350191 0.629953" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
      <joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
      <geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" />
      <body name="FL_thigh" pos="0 0.037 0">
      <inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
      <joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
      <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" />
      <body name="FL_calf" pos="0 0 -0.25">
      <inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
      <joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
      <geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
      </body>
      </body>
      </body>
      <body name="RR_hip" pos="-0.21935 -0.0875 0">
      <inertial pos="0.001568 0.008134 0.000864" quat="0.35823 0.593462 0.629953 0.350191" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
      <joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
      <geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
      <geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" />
      <body name="RR_thigh" pos="0 -0.037 0">
      <inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
      <joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
      <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" />
      <body name="RR_calf" pos="0 0 -0.25">
      <inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
      <joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
      <geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
      </body>
      </body>
      </body>
      <body name="RL_hip" pos="-0.21935 0.0875 0">
      <inertial pos="0.001568 -0.008134 0.000864" quat="0.350191 0.629953 0.593462 0.35823" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
      <joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" />
      <geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
      <geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" />
      <body name="RL_thigh" pos="0 0.037 0">
      <inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
      <joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
      <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" />
      <body name="RL_calf" pos="0 0 -0.25">
      <inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
      <joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
      <geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
      </body>
      </body>
      </body>
      </body>
      </worldbody>
      <actuator>
      <motor name="RL_calf_joint" gear="800" joint="RL_calf_joint" />
      <motor name="RL_thigh_joint" gear="800" joint="RL_thigh_joint" />
      <motor name="RL_hip_joint" gear="800" joint="RL_hip_joint" />
      <motor name="RR_calf_joint" gear="800" joint="RR_calf_joint" />
      <motor name="RR_thigh_joint" gear="800" joint="RR_thigh_joint" />
      <motor name="RR_hip_joint" gear="800" joint="RR_hip_joint" />
      <motor name="FL_calf_joint" gear="800" joint="FL_calf_joint" />
      <motor name="FL_thigh_joint" gear="800" joint="FL_thigh_joint" />
      <motor name="FL_hip_joint" gear="800" joint="FL_hip_joint" />
      <motor name="FR_calf_joint" gear="800" joint="FR_calf_joint" />
      <motor name="FR_thigh_joint" gear="800" joint="FR_thigh_joint" />
      <motor name="FR_hip_joint" gear="800" joint="FR_hip_joint" />
      </actuator>
      </mujoco>
      laikago_ros/ChangeLog 0 → 100755
      View file @ 8587f782
      V1.1.1
      ------
      2019.7.2
      --------
      Description
      -----------
      - Move folder 'laikago' to 'laikago_description' and 'laikago_gazebo'.
      Features
      --------
      Known Issues
      ------------
      =============================================================================================
      V1.1.0
      ------
      =============================================================================================
      V1.0.0
      ------
      laikago_ros/LICENSE 0 → 100755
      View file @ 8587f782
      Mozilla Public License Version 2.0
      ==================================
      1. Definitions
      --------------
      1.1. "Contributor"
      means each individual or legal entity that creates, contributes to
      the creation of, or owns Covered Software.
      1.2. "Contributor Version"
      means the combination of the Contributions of others (if any) used
      by a Contributor and that particular Contributor's Contribution.
      1.3. "Contribution"
      means Covered Software of a particular Contributor.
      1.4. "Covered Software"
      means Source Code Form to which the initial Contributor has attached
      the notice in Exhibit A, the Executable Form of such Source Code
      Form, and Modifications of such Source Code Form, in each case
      including portions thereof.
      1.5. "Incompatible With Secondary Licenses"
      means
      (a) that the initial Contributor has attached the notice described
      in Exhibit B to the Covered Software; or
      (b) that the Covered Software was made available under the terms of
      version 1.1 or earlier of the License, but not also under the
      terms of a Secondary License.
      1.6. "Executable Form"
      means any form of the work other than Source Code Form.
      1.7. "Larger Work"
      means a work that combines Covered Software with other material, in
      a separate file or files, that is not Covered Software.
      1.8. "License"
      means this document.
      1.9. "Licensable"
      means having the right to grant, to the maximum extent possible,
      whether at the time of the initial grant or subsequently, any and
      all of the rights conveyed by this License.
      1.10. "Modifications"
      means any of the following:
      (a) any file in Source Code Form that results from an addition to,
      deletion from, or modification of the contents of Covered
      Software; or
      (b) any new file in Source Code Form that contains any Covered
      Software.
      1.11. "Patent Claims" of a Contributor
      means any patent claim(s), including without limitation, method,
      process, and apparatus claims, in any patent Licensable by such
      Contributor that would be infringed, but for the grant of the
      License, by the making, using, selling, offering for sale, having
      made, import, or transfer of either its Contributions or its
      Contributor Version.
      1.12. "Secondary License"
      means either the GNU General Public License, Version 2.0, the GNU
      Lesser General Public License, Version 2.1, the GNU Affero General
      Public License, Version 3.0, or any later versions of those
      licenses.
      1.13. "Source Code Form"
      means the form of the work preferred for making modifications.
      1.14. "You" (or "Your")
      means an individual or a legal entity exercising rights under this
      License. For legal entities, "You" includes any entity that
      controls, is controlled by, or is under common control with You. For
      purposes of this definition, "control" means (a) the power, direct
      or indirect, to cause the direction or management of such entity,
      whether by contract or otherwise, or (b) ownership of more than
      fifty percent (50%) of the outstanding shares or beneficial
      ownership of such entity.
      2. License Grants and Conditions
      --------------------------------
      2.1. Grants
      Each Contributor hereby grants You a world-wide, royalty-free,
      non-exclusive license:
      (a) under intellectual property rights (other than patent or trademark)
      Licensable by such Contributor to use, reproduce, make available,
      modify, display, perform, distribute, and otherwise exploit its
      Contributions, either on an unmodified basis, with Modifications, or
      as part of a Larger Work; and
      (b) under Patent Claims of such Contributor to make, use, sell, offer
      for sale, have made, import, and otherwise transfer either its
      Contributions or its Contributor Version.
      2.2. Effective Date
      The licenses granted in Section 2.1 with respect to any Contribution
      become effective for each Contribution on the date the Contributor first
      distributes such Contribution.
      2.3. Limitations on Grant Scope
      The licenses granted in this Section 2 are the only rights granted under
      this License. No additional rights or licenses will be implied from the
      distribution or licensing of Covered Software under this License.
      Notwithstanding Section 2.1(b) above, no patent license is granted by a
      Contributor:
      (a) for any code that a Contributor has removed from Covered Software;
      or
      (b) for infringements caused by: (i) Your and any other third party's
      modifications of Covered Software, or (ii) the combination of its
      Contributions with other software (except as part of its Contributor
      Version); or
      (c) under Patent Claims infringed by Covered Software in the absence of
      its Contributions.
      This License does not grant any rights in the trademarks, service marks,
      or logos of any Contributor (except as may be necessary to comply with
      the notice requirements in Section 3.4).
      2.4. Subsequent Licenses
      No Contributor makes additional grants as a result of Your choice to
      distribute the Covered Software under a subsequent version of this
      License (see Section 10.2) or under the terms of a Secondary License (if
      permitted under the terms of Section 3.3).
      2.5. Representation
      Each Contributor represents that the Contributor believes its
      Contributions are its original creation(s) or it has sufficient rights
      to grant the rights to its Contributions conveyed by this License.
      2.6. Fair Use
      This License is not intended to limit any rights You have under
      applicable copyright doctrines of fair use, fair dealing, or other
      equivalents.
      2.7. Conditions
      Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
      in Section 2.1.
      3. Responsibilities
      -------------------
      3.1. Distribution of Source Form
      All distribution of Covered Software in Source Code Form, including any
      Modifications that You create or to which You contribute, must be under
      the terms of this License. You must inform recipients that the Source
      Code Form of the Covered Software is governed by the terms of this
      License, and how they can obtain a copy of this License. You may not
      attempt to alter or restrict the recipients' rights in the Source Code
      Form.
      3.2. Distribution of Executable Form
      If You distribute Covered Software in Executable Form then:
      (a) such Covered Software must also be made available in Source Code
      Form, as described in Section 3.1, and You must inform recipients of
      the Executable Form how they can obtain a copy of such Source Code
      Form by reasonable means in a timely manner, at a charge no more
      than the cost of distribution to the recipient; and
      (b) You may distribute such Executable Form under the terms of this
      License, or sublicense it under different terms, provided that the
      license for the Executable Form does not attempt to limit or alter
      the recipients' rights in the Source Code Form under this License.
      3.3. Distribution of a Larger Work
      You may create and distribute a Larger Work under terms of Your choice,
      provided that You also comply with the requirements of this License for
      the Covered Software. If the Larger Work is a combination of Covered
      Software with a work governed by one or more Secondary Licenses, and the
      Covered Software is not Incompatible With Secondary Licenses, this
      License permits You to additionally distribute such Covered Software
      under the terms of such Secondary License(s), so that the recipient of
      the Larger Work may, at their option, further distribute the Covered
      Software under the terms of either this License or such Secondary
      License(s).
      3.4. Notices
      You may not remove or alter the substance of any license notices
      (including copyright notices, patent notices, disclaimers of warranty,
      or limitations of liability) contained within the Source Code Form of
      the Covered Software, except that You may alter any license notices to
      the extent required to remedy known factual inaccuracies.
      3.5. Application of Additional Terms
      You may choose to offer, and to charge a fee for, warranty, support,
      indemnity or liability obligations to one or more recipients of Covered
      Software. However, You may do so only on Your own behalf, and not on
      behalf of any Contributor. You must make it absolutely clear that any
      such warranty, support, indemnity, or liability obligation is offered by
      You alone, and You hereby agree to indemnify every Contributor for any
      liability incurred by such Contributor as a result of warranty, support,
      indemnity or liability terms You offer. You may include additional
      disclaimers of warranty and limitations of liability specific to any
      jurisdiction.
      4. Inability to Comply Due to Statute or Regulation
      ---------------------------------------------------
      If it is impossible for You to comply with any of the terms of this
      License with respect to some or all of the Covered Software due to
      statute, judicial order, or regulation then You must: (a) comply with
      the terms of this License to the maximum extent possible; and (b)
      describe the limitations and the code they affect. Such description must
      be placed in a text file included with all distributions of the Covered
      Software under this License. Except to the extent prohibited by statute
      or regulation, such description must be sufficiently detailed for a
      recipient of ordinary skill to be able to understand it.
      5. Termination
      --------------
      5.1. The rights granted under this License will terminate automatically
      if You fail to comply with any of its terms. However, if You become
      compliant, then the rights granted under this License from a particular
      Contributor are reinstated (a) provisionally, unless and until such
      Contributor explicitly and finally terminates Your grants, and (b) on an
      ongoing basis, if such Contributor fails to notify You of the
      non-compliance by some reasonable means prior to 60 days after You have
      come back into compliance. Moreover, Your grants from a particular
      Contributor are reinstated on an ongoing basis if such Contributor
      notifies You of the non-compliance by some reasonable means, this is the
      first time You have received notice of non-compliance with this License
      from such Contributor, and You become compliant prior to 30 days after
      Your receipt of the notice.
      5.2. If You initiate litigation against any entity by asserting a patent
      infringement claim (excluding declaratory judgment actions,
      counter-claims, and cross-claims) alleging that a Contributor Version
      directly or indirectly infringes any patent, then the rights granted to
      You by any and all Contributors for the Covered Software under Section
      2.1 of this License shall terminate.
      5.3. In the event of termination under Sections 5.1 or 5.2 above, all
      end user license agreements (excluding distributors and resellers) which
      have been validly granted by You or Your distributors under this License
      prior to termination shall survive termination.
      ************************************************************************
      * *
      * 6. Disclaimer of Warranty *
      * ------------------------- *
      * *
      * Covered Software is provided under this License on an "as is" *
      * basis, without warranty of any kind, either expressed, implied, or *
      * statutory, including, without limitation, warranties that the *
      * Covered Software is free of defects, merchantable, fit for a *
      * particular purpose or non-infringing. The entire risk as to the *
      * quality and performance of the Covered Software is with You. *
      * Should any Covered Software prove defective in any respect, You *
      * (not any Contributor) assume the cost of any necessary servicing, *
      * repair, or correction. This disclaimer of warranty constitutes an *
      * essential part of this License. No use of any Covered Software is *
      * authorized under this License except under this disclaimer. *
      * *
      ************************************************************************
      ************************************************************************
      * *
      * 7. Limitation of Liability *
      * -------------------------- *
      * *
      * Under no circumstances and under no legal theory, whether tort *
      * (including negligence), contract, or otherwise, shall any *
      * Contributor, or anyone who distributes Covered Software as *
      * permitted above, be liable to You for any direct, indirect, *
      * special, incidental, or consequential damages of any character *
      * including, without limitation, damages for lost profits, loss of *
      * goodwill, work stoppage, computer failure or malfunction, or any *
      * and all other commercial damages or losses, even if such party *
      * shall have been informed of the possibility of such damages. This *
      * limitation of liability shall not apply to liability for death or *
      * personal injury resulting from such party's negligence to the *
      * extent applicable law prohibits such limitation. Some *
      * jurisdictions do not allow the exclusion or limitation of *
      * incidental or consequential damages, so this exclusion and *
      * limitation may not apply to You. *
      * *
      ************************************************************************
      8. Litigation
      -------------
      Any litigation relating to this License may be brought only in the
      courts of a jurisdiction where the defendant maintains its principal
      place of business and such litigation shall be governed by laws of that
      jurisdiction, without reference to its conflict-of-law provisions.
      Nothing in this Section shall prevent a party's ability to bring
      cross-claims or counter-claims.
      9. Miscellaneous
      ----------------
      This License represents the complete agreement concerning the subject
      matter hereof. If any provision of this License is held to be
      unenforceable, such provision shall be reformed only to the extent
      necessary to make it enforceable. Any law or regulation which provides
      that the language of a contract shall be construed against the drafter
      shall not be used to construe this License against a Contributor.
      10. Versions of the License
      ---------------------------
      10.1. New Versions
      Mozilla Foundation is the license steward. Except as provided in Section
      10.3, no one other than the license steward has the right to modify or
      publish new versions of this License. Each version will be given a
      distinguishing version number.
      10.2. Effect of New Versions
      You may distribute the Covered Software under the terms of the version
      of the License under which You originally received the Covered Software,
      or under the terms of any subsequent version published by the license
      steward.
      10.3. Modified Versions
      If you create software not governed by this License, and you want to
      create a new license for such software, you may create and use a
      modified version of this License if you rename the license and remove
      any references to the name of the license steward (except to note that
      such modified license differs from this License).
      10.4. Distributing Source Code Form that is Incompatible With Secondary
      Licenses
      If You choose to distribute Source Code Form that is Incompatible With
      Secondary Licenses under the terms of this version of the License, the
      notice described in Exhibit B of this License must be attached.
      Exhibit A - Source Code Form License Notice
      -------------------------------------------
      This Source Code Form is subject to the terms of the Mozilla Public
      License, v. 2.0. If a copy of the MPL was not distributed with this
      file, You can obtain one at http://mozilla.org/MPL/2.0/.
      If it is not possible or desirable to put the notice in a particular
      file, then You may include the notice in a location (such as a LICENSE
      file in a relevant directory) where a recipient would be likely to look
      for such a notice.
      You may add additional accurate notices of copyright ownership.
      Exhibit B - "Incompatible With Secondary Licenses" Notice
      ---------------------------------------------------------
      This Source Code Form is "Incompatible With Secondary Licenses", as
      defined by the Mozilla Public License, v. 2.0.
      laikago_ros/README.md 0 → 100755
      View file @ 8587f782
      The laikago_ros is used for visualization, simulation and control of Laikago.
      ## laikago_controller
      Ros native controllers are not used here.
      We prefer to build this controller runs like the real one.
      ## laikago_description
      You can check joint limits.
      ```bash
      roslaunch laikago_description laikago_rviz.launch
      ```
      ## laikago_gazebo
      A dynamic simulation is suggested before deploy code on real robot.
      ```bash
      roslaunch laikago_gazebo normal.launch
      rosrun laikago_gazebo laikago_servo
      ```
      ## laikago_msgs
      The communication data is the same as laikago_sdk.
      ## laikago_real
      These node can control real robot with lcm server runs under laikago_sdk.
      ```bash
      roscore
      rosrun laikago_real position_lcm
      ```
      laikago_ros/laikago_controller/CMakeLists.txt 0 → 100755
      View file @ 8587f782
      cmake_minimum_required(VERSION 2.8.3)
      project(laikago_controller)
      find_package(catkin REQUIRED COMPONENTS
      controller_interface
      hardware_interface
      pluginlib
      roscpp
      realtime_tools
      laikago_msgs
      )
      catkin_package(
      CATKIN_DEPENDS
      laikago_msgs
      controller_interface
      hardware_interface
      pluginlib
      roscpp
      INCLUDE_DIRS include
      LIBRARIES ${PROJECT_NAME}
      )
      include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
      link_directories($(catkin_LIB_DIRS) lib)