<> <> See [[Robots/CIR-KIT-Unit03]] for instructions and tutorials. == Overview == The `cirkit_unit03_gazebo` package contains launch and configuration files for using the CIR-KIT-Unit03 robot in a simulated environment (i.e. [[http://gazebosim.org/|Gazebo]]). === Launch Simulation === The `husky_empty_world.launch` file pulls in [[ros_control]] ([[steer_drive_controller]]) configuration from [[cirkit_unit03_control]], starts a [[http://gazebosim.org/|Gazebo]] instance with a world where a couple of obstacles are set, and loads the simulated Husky description via `cirkit_unit03_world.launch`. The `cirkit_unit03_clearpath_playpen.launch` file demonstrates how to select an alternative world for the simulation. The world file called from the launch is slightly modified from one used in [[husky_gazebo]]. === Simulation Configuration === The `description_gazebo.launch` file loads the standard Husky URDF from [[cirkit_unit03_description]], along with the requisite Gazebo plugins for simulation. T ## AUTOGENERATED DON'T DELETE ## CategoryPackage