<> {{{{#!wiki version indigo See [[Robots/Husky]] for instructions and tutorials. }}}} {{{{#!wiki version hydro == 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 [[mailto:code@clearpathrobotics.com|get in touch]]. }}}} {{{{#!wiki version fuerte }}}} ## AUTOGENERATED DON'T DELETE ## CategoryStack