Unitree laikago机器狗仿真

在B站上看到杭州宇树公司研发的机器狗，看到挺有趣的，就去github上下载了laikago的仿真模型代码跑起来look look，下面是配置运行时报的一些错误，在这里记录一下！

本机环境：ubuntu16.04 + ROS Kinetic +gazebo8
新建工作空间并编译

mkdir Laikago/src
cd Laikago/src
git clone https://github.com/unitreerobotics/laikago_ros.git
cd ..
catkin_make

接着是一连串的报错：

问题一:

卸载gazebo7，安装gazebo8
安装流程如下：
1.Setup your computer to accept software from packages.osrfoundation.org.

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

2.Setup keys

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

sudo apt-get update

卸载libignition-math2和libsdformat4

sudo apt remove libignition-math2 libsdformat4

安装libignition-math3和libsdformat5，这一步会自动卸载gazebo7

sudo apt-get install libignition-math3 libsdformat5

安装Gazebo8

sudo apt-get install gazebo8 libgazebo8

去除Gazebo7版本的gazebo_ros相关，并安装Gazebo8版本的gazebo_ros相关

sudo apt remove ros-kinetic-gazebo-*
sudo apt-get install ros-kinetic-gazebo8-*
sudo apt-get install ros-kinetic-robot-state-publisher

问题二：

Cannot launch node of type [joint_state_publisher/joint_state_publisher]

解决：

sudo apt-get install ros-kinetic-joint-state-publisher

问题三：

Could not find the GUI, install the 'joint_state_publisher_gui' package

解决：

sudo apt-get install ros-kinetic-joint-state-publisher-gui

问题四：

运行rviz节点报错ERROR: cannot launch node of type [rviz/rviz]: rviz

解决：

sudo apt-get install ros-kinetic-rviz

最后所有问题都解决之后，就开始运行吧！

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

这里提醒一下就是，执行以上命令之后，会报错无法定位ros-kinetic-gazebo8-ros-dev
我的解决办法就是单独运行命令：sudo apt-get install ros-kinetic-gazebo8-*

roslaunch laikago_description laikago_rviz.launch

roslaunch laikago_gazebo normal.launch

rosrun laikago_gazebo laikago_servo

rosrun laikago_gazebo laikago_external_force