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## descriptive title for the tutorial
## title = Simulating Husky
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## description = How to bring up a simulated Husky robot using the Gazebo simulator.
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## next.0.link= [[husky_control/Tutorials/Interfacing with Husky|Interfacing with Husky]]
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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:
  i. Simulate Husky in an empty world.   You can add new objects to this world using the Gazebo controls ([[http://gazebosim.org/tutorials?tut=build_world|Gazebo Tutorial - Building a World]].

  {{{
$ roslaunch husky_gazebo husky_empty_world.launch
  }}}

  i. Simulate Husky in a Clearpath designed world. This is the base environment for the [[husky_navigation/Tutorials|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 ([[http://gazebosim.org/tutorials/?tut=ros_roslaunch#UsingroslaunchtoOpenWorldModels|Using roslaunch with Gazebo]]).

 {{{
$ roslaunch husky_gazebo husky_empty_world.launch world_name:=worlds/willowgarage.world
 }}}