Documentation Status

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husky_simulator: husky_gazebo | husky_gazebo_plugins

Package Summary

Documented

Husky specific simulation components.

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husky_simulator: husky_gazebo | husky_gazebo_plugins

Package Summary

Released Documented

The husky_simulator package

husky_simulator: husky_gazebo

Package Summary

Released Continuous integration Documented

Metapackage for Clearpath Husky simulation software

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See Robots/Husky for instructions and tutorials.

Overview

The husky_simulator package provides a starting point for simulating Husky operation in Gazebo. The package includes launch files for spawning a virtual Husky in the Gazebo empty_world environment. A Gazebo plugin is included which emulates the dynamics of a real Husky platform. The virtual Husky can be teleoperated via the same control interface as the actual robot, and provides simulated wheel odometry measurements.

To install the husky_simulator packages, please use the following command:

sudo apt-get install ros-hydro-husky-desktop

To start using a Husky in a Gazebo simulator:

roslaunch husky_gazebo husky_empty_world.launch

Finally, one can view the robot in rviz and perform teleoperation using interactive markers:

roslaunch husky_viz view_robot.launch

Roadmap

We're considering adding fake IMU and fake GPS outputs, so that the simulator is even more useful for use with outdoor navigation algorithms. If these are of interest to you, please get in touch.

Wiki: husky_simulator (last edited 2016-05-31 10:23:20 by DanielReardon)