# 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