This is a simulation demo fot laikago
source /opt/ros/kinetic/setup.bash
source /usr/share/gazebo-8/setup.sh
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
cd ~/catkin_ws
catkin_make
you can test this package:
roslaunch laikago_description laikago_rviz.launch
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
then you can try this:
roslaunch laikago_gazebo normal.launch
let the dog stand:
rosrun laikago_gazebo laikago_servo
You can add external disturbances with this node, like a push or a kick:
rosrun laikago_gazebo laikago_external_force