Spot driver2

.catkin_workspace

@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration

.gitignore

@@ -0,0 +1,3 @@
+/devel
+/build
+

README.md

@@ -18,8 +18,24 @@ source ./devel/setup.bash
 ```
 
 # 5. launch simulation.launch and adjust the Spot pose
+```
+roslaunch simulation.launch
+```
+# Stand up Spot and move
+Change the pose of '/' in gazebo pitch, yaw, roll to 0, 0, 0. Try multiple times until it works.
+
 
-# 6. In another terminal, launch weeding_arm_sim.launch
+# 6. In another terminal, launch weeding_arm_sim.launch, and follow example in arm_control repo to perform control
+```
+roselaunch weeding_arm_sim.launch
+```
+Then follow the arm_control repository
+
+
+# 7. this command make us move Spot with keyboards
+```
+roslaunch champ_teleop teleop.launch
+```
 
 
 # A Docker image that has all the dependencies for running this simulation_env:
@@ -28,3 +44,6 @@ docker pull entao2000/spot_simulation
 docker run --name spot_test -it -v `pwd`/rootfs:/root/rootfs -p 5901:5901 -p 6080:6080 -p 8888:8888 entao2000/spot_simulation 
 ```
 Then, Clone z1_controller and arm_control repository into the src folder, and follow steps from 1 to 6
+
+
+https://github.com/gazebosim/gz-math

ign-math/.gitignore

@@ -0,0 +1,10 @@
+# CMake folders
+build
+build_*
+
+# OS generated files
+.DS_Store
+*.swp
+
+# Python generaated files
+*.pyc

ign-math/AUTHORS

@@ -0,0 +1 @@
+OSRFoundation

ign-math/BUILD.bazel

@@ -0,0 +1,93 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+    "gz_configure_header",
+    "gz_export_header",
+    "gz_include_header",
+)
+load(
+    "@gz//bazel/lint:lint.bzl",
+    "add_lint_tests",
+)
+
+package(
+    default_visibility = GZ_VISIBILITY,
+    features = GZ_FEATURES,
+)
+
+licenses(["notice"])  # Apache-2.0
+
+exports_files(["LICENSE"])
+
+gz_configure_header(
+    name = "config",
+    src = "include/gz/math/config.hh.in",
+    cmakelists = ["CMakeLists.txt"],
+    package = "math",
+)
+
+gz_export_header(
+    name = "include/gz/math/Export.hh",
+    export_base = "GZ_MATH",
+    lib_name = "gz-math",
+    visibility = ["//visibility:private"],
+)
+
+public_headers_no_gen = glob([
+    "include/gz/math/*.hh",
+    "include/gz/math/detail/*.hh",
+    "include/gz/math/graph/*.hh",
+])
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = ["src/*_TEST.cc"],
+)
+
+gz_include_header(
+    name = "mathhh_genrule",
+    out = "include/gz/math.hh",
+    hdrs = public_headers_no_gen + [
+        "include/gz/math/config.hh",
+        "include/gz/math/Export.hh",
+    ],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/gz/math/config.hh",
+    "include/gz/math/Export.hh",
+    "include/gz/math.hh",
+]
+
+cc_library(
+    name = "math",
+    srcs = sources + private_headers,
+    hdrs = public_headers,
+    includes = ["include"],
+    deps = [
+        GZ_ROOT + "utils",
+    ],
+)
+
+test_sources = glob(
+    [
+        "src/*_TEST.cc",
+        "src/graph/*_TEST.cc",
+    ],
+)
+
+[cc_test(
+    name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+    srcs = [src],
+    deps = [
+        ":math",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for src in test_sources]
+
+add_lint_tests()

ign-math/CMakeLists.txt

@@ -0,0 +1,141 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+#============================================================================
+# Initialize the project
+#============================================================================
+project(gz-math7 VERSION 7.1.0)
+
+#============================================================================
+# Find gz-cmake
+#============================================================================
+# If you get an error at this line, you need to install gz-cmake
+find_package(gz-cmake3 REQUIRED)
+
+#============================================================================
+# Configure the project
+#============================================================================
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+gz_configure_project(VERSION_SUFFIX)
+
+#============================================================================
+# Set project-specific options
+#============================================================================
+
+option(SKIP_SWIG
+      "Skip generating ruby bindings via Swig"
+      OFF)
+
+option(SKIP_PYBIND11
+      "Skip generating Python bindings via pybind11"
+      OFF)
+
+include(CMakeDependentOption)
+cmake_dependent_option(USE_SYSTEM_PATHS_FOR_RUBY_INSTALLATION
+      "Install ruby modules in standard system paths in the system"
+      OFF "NOT SKIP_SWIG" OFF)
+
+cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
+      "Install python modules in standard system paths in the system"
+      OFF "NOT SKIP_PYBIND11" OFF)
+
+cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
+      "Use dist-packages instead of site-package to install python modules"
+      OFF "NOT SKIP_PYBIND11" OFF)
+
+#============================================================================
+# Search for project-specific dependencies
+#============================================================================
+
+#--------------------------------------
+# Find gz-utils
+gz_find_package(gz-utils2 REQUIRED)
+set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
+
+#--------------------------------------
+# Find eigen3
+gz_find_package(
+  EIGEN3
+  REQUIRED_BY eigen3
+  PRETTY eigen3
+  PURPOSE "Provide conversions to eigen3 types")
+
+########################################
+# Include swig
+if (SKIP_SWIG)
+  message(STATUS "SKIP_SWIG set - disabling SWIG Ruby support")
+else()
+  find_package(SWIG QUIET)
+  if (NOT SWIG_FOUND)
+    GZ_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
+    message (STATUS "Searching for swig - not found.")
+  else()
+    message (STATUS "Searching for swig - found version ${SWIG_VERSION}.")
+  endif()
+
+  # Include other languages if swig was found
+  if (SWIG_FOUND)
+    ########################################
+    # Include ruby
+    find_package(Ruby 1.9 QUIET)
+    if (NOT RUBY_FOUND)
+      GZ_BUILD_WARNING("Ruby is missing: Install ruby-dev to enable ruby interfaces.")
+      message (STATUS "Searching for Ruby - not found.")
+    else()
+      message (STATUS "Searching for Ruby - found version ${RUBY_VERSION}.")
+    endif()
+  endif()
+endif()
+
+########################################
+# Python bindings
+if (SKIP_PYBIND11)
+  message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
+else()
+  include(GzPython)
+  find_package(PythonLibs QUIET)
+  if (NOT PYTHONLIBS_FOUND)
+    GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+    message (STATUS "Searching for Python - not found.")
+  else()
+    message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
+
+    set(PYBIND11_PYTHON_VERSION 3)
+    find_package(Python3 QUIET COMPONENTS Interpreter Development)
+    find_package(pybind11 2.2 QUIET)
+
+    if (${pybind11_FOUND})
+      message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
+    else()
+      GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+      message (STATUS "Searching for pybind11 - not found.")
+    endif()
+  endif()
+endif()
+
+# Location of "fake install folder" used in tests
+# Defined here at root scope so it is available for tests in src and test folders
+set(FAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/fake/install")
+
+#============================================================================
+# Configure the build
+#============================================================================
+gz_configure_build(QUIT_IF_BUILD_ERRORS
+  COMPONENTS eigen3)
+
+
+#============================================================================
+# Create package information
+#============================================================================
+gz_create_packages()
+
+#============================================================================
+# Configure documentation
+#============================================================================
+configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
+configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
+
+gz_create_docs(
+  API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
+  TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md")

ign-math/CONTRIBUTING.md

@@ -0,0 +1 @@
+See the [Gazebo contributing guide](https://gazebosim.org/docs/all/contributing).