Package Summary
Documented
husky_gazebo
- Author: Ryan Gariepy/Clearpath Robotics
- License: BSD
- Source: git https://github.com/clearpathrobotics/husky_simulator.git (branch: master)
Package Summary
Released Documented
The husky_gazebo package
- Maintainer: Yan Ma <y22ma AT clearpathrobotics DOT com>
- Author:
- License: BSD
- Source: git https://github.com/husky/husky_simulator.git (branch: hydro-devel)
Package Summary
Released Continuous integration Documented
Clearpath Husky Simulator bringup
- Maintainer status: maintained
- Maintainer: Paul Bovbel <pbovbel AT clearpathrobotics DOT com>
- Author: Ryan Gariepy <rgariepy AT clearpathrobotics DOT com>, Prasenjit Mukherjee <pmukherj AT clearpathrobotics DOT com>, Paul Bovbel <pbovbel AT clearpathrobotics DOT com>, Devon Ash <dash AT clearpathrobotics DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/husky/husky_simulator/issues
- Source: git https://github.com/husky/husky_simulator.git (branch: indigo-devel)
See Robots/Husky for instructions and tutorials.
Overview
The husky_gazebo package contains launch and configuration files for using the Husky robot in a simulated environment (i.e. Gazebo).
Launch Simulation
The husky_empty_world.launch file pulls in ros_control configuration from husky_control, starts a Gazebo instance with an empty world, and loads the simulated Husky description via description_gazebo.launch.
The husky_playpen.launch file demonstrates how to select an alternative world for the simulation. This instance loads a Clearpath designed playpen for Husky. Go have some fun!
Simulation Configuration
The description_gazebo.launch file loads the standard Husky URDF from husky_description, along with the requisite Gazebo plugins for simulation. This URDF can be easily extended by invoking the <xacro:husky_gazebo_robot /> macro in your custom description file, as demonstrated in urdf/description.gazebo.xacro.
