Hello, dear friends.
I am happy to share that my quadruped robot OK1 is now supporting ROS and MoveIt.
I decided to work with ROS alongside my software design to visualize the robot and debug my code. Ros has many useful packages, especially for perception and localization. OK1 already has its own kinematic solver and motion planner but Moveit can be very helpful in the future because it has self-collision checking.
You can find the video on the link:
And also you can find the real robot at this link(No ROS at the time of recording this video):