<> {{{{#!wiki version indigo See [[Robots/Husky]] for instructions and tutorials. == Overview == This package contains demo and configuration files for autonomous mapping, navigation and planning with the Husky platform. Sample integrations are provided for the [[navigation]] stack, [[gmapping]], and [[frontier_exploration]]. Using the demos requires a running [[husky_simulator]] instance, or a remote connection to a live Husky robot. It is recommended to run the demos on the same physical hardware as the robot or simulator, since they require low-latency pub/sub to sensor and control topics. See the [[Robots/Husky]] for individual demo instructions. }}}} {{{{#!wiki version hydro <> == Overview == This package is based on the [[turtlebot_navigation]] package. == Getting Started == === Sensor Information === Unlike the TurtleBot, Husky does not ship with a standard package. Thus, a number of transforms and topics must be made available. Namely, a transform from /odom to /base_link must be available, as must a <> topic with a corresponding transform from /base_link to its frame. Sample launchfiles which provide suitable data are available in the [[husky_localization]] package. === SLAM Map Building === To build and save a map, follow the same instructions as laid out in the [[turtlebot_navigation/Tutorials/Build a map with SLAM|related TurtleBot tutorial]], replacing all references to "turtlebot_navigation" with "husky_navigation". === Autonomous Navigation === To navigate around a prebuilt map, follow the same instructions as laid out in the [[turtlebot_navigation/Tutorials/Autonomous Navigation of a Known Map with TurtleBot|related TurtleBot tutorial]], replacing all references to "turtlebot_navigation" with "husky_navigation". }}}}