# 编译`ocs2_legged_robot_ros`包
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
# catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization
# 构建`legged_control`的源代码：
# catkin build legged_controllers legged_unitree_description
# 构建模拟
# catkin build legged_gazebo
# 构建实际硬件接口机器人
catkin build legged_unitree_hw
# 构建外置N100imu
catkin build fdilink_ahrs
#构建电机控制和反馈
catkin build unitree_motor