G1

[EtienneAr]

Adding G1 robot to the simulator. A ros parameter should be passed at launch to determine which robot to swpan.

Note: one dirty trick in this code is that the lowstate and lowcmd messages of both robots are close enough so that one can be "confused" for the other and no distinction is made in the code, since the simulation wrapper fill only a few fields common to both. (EXCEPT for the foot force that is filled for the go2, but is not for the g1).

If more robot specific fields should be filled, consider refactoring this part of the code to have a clear distinction between both.

Todo:

• Make sure that examples and dependencies on other repos are up to date with the new simulator
• Add the robot type in the launchfile
• Deprecate go2_mpc_experiments ? (or port it to the new interface, but really ??)
• Remove simple_wrapper as it has not been ported adn since simple had major API change would probably need a lot of rework...