# go2_sim

**Repository Path**: AlEX_2473/go2_sim

## Basic Information

- **Project Name**: go2_sim
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-09-29
- **Last Updated**: 2025-09-29

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Gazebo go2 仿真环境

## 依赖

### champ

``` shell
cd src
git clone -b ros2 https://github.com/chvmp/champ.git
git switch 049b33ccaf77847bbea168cbb0a11c260ce119cd
cd champ
git submodule init
git submodule update
```

### FAST-LIVO2

``` shell
cd src
git clone -b humble https://github.com/Robotic-Developer-Road/FAST-LIVO2.git
git switch 18f02d8665c58e21d78e66517e311e64f7c2bf8a
```

### ros2 livox simulation

``` shell
cd src
git clone https://github.com/stm32f303ret6/livox_laser_simulation_RO2.git ./ros2_livox_simulation
git switch 58ae16b43cc90423d3f8dc2ae3018a7c178c330a
```

### rpg_vikit( for fastlio2)

``` shell
cd src
git clone https://gitee.com/AlEX_2473/rpg_vikit

mkdir rpg_vikit/3rdparty && cd rpg_vikit/3rdparty

git clone https://gitee.com/AlEX_2473/ceres-solver.git
git clone https://gitee.com/AlEX_2473/sophus.git

# 如果出现编译问题请删除dist重新编译
cd ceres-solver
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=/path/to/ceres-solver/dist ..
make -j$(($(nproc) / 2)
make install

cd sophus
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=/path/to/sophus/dist ..
make -j$(($(nproc) / 2)
make install
```

## 编译

``` shell
bash build.sh
```