Merge branch 'feature/add_anymal_c_simple_description' into 'master'

Feature/add anymal c simple description

GitOrigin-RevId: e6c17f30309b1309704865b47e3d7a424b80e679

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5.1)
+project(anymal_c_simple_description)
+
+find_package(catkin)
+
+catkin_package()
+
+install(DIRECTORY launch urdf config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED
+    COMPONENTS
+      roslaunch
+  )
+  roslaunch_add_file_check(launch/load.launch)
+endif()

LICENSE

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+Copyright 2020, ANYbotics AG.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in
+   the documentation and/or other materials provided with the
+   distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# ANYmal C Robot Description (URDF)
+## Overview
+
+This package contains a simplified robot description (URDF) of the [ANYmal C robot](https://www.anybotics.com/anymal) developed by [ANYbotics](https://www.anybotics.com).
+
+The extended ANYmal C robot description, simulation, and control software is available exclusively to members of the [ANYmal Research community](https://www.anymal-research.org). For more information and membership applications, contact [email protected].
+
+**Author & Maintainer: Linus Isler, [ANYbotics](https://www.anybotics.com)**
+
+[![ANYmal C Robot Description](doc/anymal_c_rviz.png)](doc/anymal_c_rviz.png)
+
+## License
+
+This software is released under a [BSD 3-Clause license](LICENSE).
+
+
+## Usage
+
+Load the ANYmal description to the ROS parameter server:
+
+    roslaunch anymal_c_simple_description load.launch
+
+To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: `joint_state_publisher`, `robot_state_publisher`, `rviz`):
+
+    roslaunch anymal_c_simple_description standalone.launch
+
+### Launch files
+
+* **`load.launch`:** Loads the URDF to the parameter server. Meant to be included in higher level launch files.
+
+* **`standalone.launch`:** A standalone launch file that starts RViz and a joint state publisher to debug the description.