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Simulating Husky
Description: How to bring up a simulated Husky robot using the Gazebo simulator.Keywords: Clearpath Husky
Tutorial Level: BEGINNER
Next Tutorial: Interfacing with Husky
Husky can be simulated in several environments using the husky_gazebo packages. To start a simulation:
- Make sure the simulation package is installed:
$ sudo apt-get install ros-<distro>-husky-simulator
Using the short name of your ROS distribution instead of <distro>.
- Set an environmental variable HUSKY_GAZEBO_DESCRIPTION:
$ export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro
- Run one of the two provided simulation environments:
Simulate Husky in an empty world. You can add new objects to this world using the Gazebo controls (Gazebo Tutorial - Building a World.
$ roslaunch husky_gazebo husky_empty_world.launch
Simulate Husky in a Clearpath designed world. This is the base environment for the navigation tutorials. It will take some time to start, as the simulator will need to download resources from the Gazebo servers.
$ roslaunch husky_gazebo husky_playpen.launch
Pick your own world in which to simulate Husky (Using roslaunch with Gazebo).
$ roslaunch husky_gazebo husky_empty_world.launch world_name:=worlds/willowgarage.world
