Code package for laikago

	This is a simulation demo fot laikago

configuration:

	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}

Build:

	cd ~/catkin_ws
	catkin_make

laikago_description:

you can test this package:

	roslaunch laikago_description laikago_rviz.launch 

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

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