Husky specific simulation components.
- Author: Maintained by Ryan Gariepy
- License: BSD
- Source: git https://github.com/clearpathrobotics/husky_simulator.git (branch: master)
The husky_simulator package
- Maintainer: Mike Purvis <mpurvis AT clearpathrobotics DOT com>
- License: BSD
- Source: git https://github.com/husky/husky_simulator.git (branch: hydro-devel)
Released Continuous integration Documented
Metapackage for Clearpath Husky simulation software
See Robots/Husky for instructions and tutorials.
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
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.