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The cirkit_unit03_gazebo package contains launch and configuration files for using the CIR-KIT-Unit03 robot in a simulated environment (i.e. Gazebo).
Launch Simulation
The husky_empty_world.launch file pulls in ros_control (steer_drive_controller) configuration from cirkit_unit03_control, starts a 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
Wiki: cirkit_unit03_gazebo (last edited 2016-12-23 18:09:35 by MoriKen)
