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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:

  1. 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>.

  2. Set an environmental variable HUSKY_GAZEBO_DESCRIPTION:
    $ export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro
  3. Run one of the two provided simulation environments:
    1. 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
    2. 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
  4. 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

Wiki: husky_gazebo/Tutorials/Simulating Husky (last edited 2018-02-08 07:50:46 by DominicJud)