Initial commit: extract M20 sim2real into ROS1 invicta project

Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only.

Packages:
- invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages
  (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs.
- invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX
  policy with per-gait models, auto RL entry after standup with readiness checks,
  safety loop, gait->model table; no protocol/network code.
- invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0),
  header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry
  1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state.
- invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes
  sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands.

Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint
state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam,
gait preconditions, error codes), telemetry push, and end-to-end switching of two
policy models with a real remote controller.

src/invicta_deploy/scripts/smoke_test.sh

@@ -0,0 +1,69 @@
+#!/usr/bin/env bash
+# 无硬件冒烟测试：拉起 roscore + invicta_hardware（骨架）+ invicta_deploy，
+# 检查话题、频率、参数是否按预期工作。需要先 catkin_make 并 source devel/setup.bash。
+#
+#   source /opt/ros/noetic/setup.bash && source devel/setup.bash
+#   bash src/invicta_deploy/scripts/smoke_test.sh     # 或任意路径下调用本脚本
+
+set -u
+WS_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"  # scripts -> invicta_deploy -> src -> ws
+cd "$WS_DIR" || exit 1
+
+echo "=== 1. onnxruntime 动态库解析 ==="
+ldd devel/lib/invicta_deploy/invicta_deploy | grep -i onnx || echo "!! libonnxruntime.so 未解析，检查 CMakeLists 的 RPATH"
+
+echo "=== 2. 启动 roscore ==="
+nohup roscore >/tmp/roscore.log 2>&1 &
+sleep 8
+
+echo "=== 3. 启动 invicta_hardware（骨架：发零位状态）==="
+nohup roslaunch invicta_hardware invicta_hardware.launch >/tmp/hw.log 2>&1 &
+sleep 4
+
+echo "--- 话题 ---"
+rostopic list
+
+echo "--- /joint_states 频率（期望 ~200 Hz）---"
+timeout 5 rostopic hz /joint_states 2>&1 | tail -2
+
+echo "--- /joint_states 样例 ---"
+timeout 5 rostopic echo -n1 /joint_states 2>&1 | sed -n '1,12p'
+
+echo "--- /imu/data 样例 ---"
+timeout 5 rostopic echo -n1 /imu/data 2>&1 | sed -n '1,18p'
+
+echo "=== 4. 启动 invicta_remote（协议节点）==="
+nohup roslaunch invicta_remote invicta_remote.launch >/tmp/remote.log 2>&1 &
+sleep 3
+python3 "$WS_DIR/src/invicta_remote/scripts/protocol_udp_test.py" --port 30000 --steer 0.2,0,0.1 --motion 1 >/tmp/proto_test.log 2>&1
+tail -4 /tmp/proto_test.log
+
+echo "=== 5. 启动 invicta_deploy（RL 节点）==="
+nohup roslaunch invicta_deploy invicta_deploy.launch >/tmp/dep.log 2>&1 &
+sleep 8
+
+echo "--- /joint_commands 频率（idle 状态期望 ~200 Hz）---"
+timeout 5 rostopic hz /joint_commands 2>&1 | tail -2
+
+echo "--- 参数是否从 yaml 读到 ---"
+rosparam get /invicta_deploy/geometry/stand_height
+rosparam get /invicta_deploy/calibration/joint_dir
+
+echo "--- 节点连接关系 ---"
+rosnode info /invicta_deploy 2>&1 | sed -n '1,14p'
+
+echo "--- /motion_state 频率（期望 ~20 Hz）---"
+timeout 4 rostopic hz /motion_state 2>&1 | tail -2
+
+echo "=== 6. 日志 ==="
+echo "--- invicta_deploy ---"
+tail -35 /tmp/dep.log
+echo "--- invicta_remote ---"
+tail -12 /tmp/remote.log
+echo "--- invicta_hardware ---"
+tail -8 /tmp/hw.log
+
+pkill -f roslaunch >/dev/null 2>&1
+pkill roscore >/dev/null 2>&1
+sleep 1
+echo "=== 冒烟测试结束 ==="