整合cyberdog_locomotion与cyberdog_simulator仓库，实现gazebo与ROS2环境下的四足机器人仿真，同时，提供了基于Riz2的可视化工具，将机器人的状态lcm数据转发为ROS2 topics
详细信息可参照仿真平台文档
推荐安装环境： Ubuntu 20.04 + ROS2 Galactic
运行仿真平台需要安装如下的依赖
ros2_Galactic
$ sudo apt update && sudo apt install curl gnupg lsb-release
$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
$ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
$ sudo apt update
$ sudo apt install ros-galactic-desktop
Gazebo
$ curl -sSL http://get.gazebosim.org | sh
$ sudo apt install ros-galactic-gazebo-ros
$ sudo apt install ros-galactic-gazebo-msgs
LCM
$ git clone https://github.com/lcm-proj/lcm.git
$ cd lcm
$ mkdir build
$ cd build
$ cmake -DLCM_ENABLE_JAVA=ON ..
$ make
$ sudo make install
Eigen
$ git clone https://github.com/eigenteam/eigen-git-mirror
$ cd eigen-git-mirror
$ mkdir build
$ cd build
$ cmake ..
$ sudo make install
xacro
$ sudo apt install ros-galactic-xacro
vcstool
$ sudo apt install python3-vcstool
colcon
$ sudo apt install python3-colcon-common-extensions
注意：若环境中安装有其他版本的yaml-cpp，可能会与ros galactic 自带的yaml-cpp发生冲突，建议编译时环境中无其他版本yaml-cpp
$ git clone https://github.com/MiRoboticsLab/cyberdog_sim.git
$ cd cyberdog_sim
$ vcs import < cyberdog_sim.repos
需要将src/cyberdog locomotion/CMakeLists.txt中的BUILD_ROS置为ON 需要在cyberdog_sim文件夹下进行编译
$ source /opt/ros/galactic/setup.bash
$ colcon build --merge-install --symlink-install --packages-up-to cyberdog_locomotion cyberdog_simulator
需要在cyberdog_sim文件夹下运行
$ python3 src/cyberdog_simulator/cyberdog_gazebo/script/launchsim.py
首先启动gazebo程序，于cyberdog_sim文件夹下进行如下操作：
$ source /opt/ros/galactic/setup.bash
$ source install/setup.bash
$ ros2 launch cyberdog_gazebo gazebo.launch.py
也可通过如下命令打开激光雷达
$ source /opt/ros/galactic/setup.bash
$ source install/setup.bash
$ ros2 launch cyberdog_gazebo gazebo.launch.py use_lidar:=true
然后启动cyberdog_locomotion的控制程序。打开cyberdog_sim文件夹新终端
$ source /opt/ros/galactic/setup.bash
$ source install/setup.bash
$ ros2 launch cyberdog_gazebo cyberdog_control_launch.py
最后打开可视化界面，于cyberdog_sim文件夹下进行如下操作：
$ source /opt/ros/galactic/setup.bash
$ source install/setup.bash
$ ros2 launch cyberdog_visual cyberdog_visual.launch.py
该平台能够通过rviz2将实机的运动控制lcm数据进行播放和可视化。
操作方法如下：
运行lcm数据可视化界面，于cyberdog_sim文件夹下进行如下操作：
$ source /opt/ros/galactic/setup.bash
$ source install/setup.bash
$ ros2 launch cyberdog_visual cyberdog_lcm_repaly.launch.py
打开可视化界面后，通过运行cyberdog_locomotion仓的script目录下的脚本播放lcm log数据。
于cyberdog_sim文件夹下进行如下操作：
$ cd src/cyberdog_locomotion/scripts
$ ./make_types.sh #初次使用时需要运行
$ ./launch_lcm_logplayer.sh
运行后选择需要播放的lcm log文件，即可进行log数据的播放，此时通过rviz可视化界面能复现机器人的姿态。
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent