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cirkit_unit03_simulator: cirkit_unit03_gazebo

Package Summary

The cirkit_unit03_gazebo package

See Robots/CIR-KIT-Unit03 for instructions and tutorials.


The cirkit_unit03_gazebo package contains launch and configuration files for using the CIR-KIT-Unit03 robot in a simulated environment (i.e. Gazebo).

Launch Simulation

The husky_empty_world.launch file pulls in ros_control (steer_drive_controller) configuration from cirkit_unit03_control, starts a Gazebo instance with a world where a couple of obstacles are set, and loads the simulated Husky description via cirkit_unit03_world.launch.

The cirkit_unit03_clearpath_playpen.launch file demonstrates how to select an alternative world for the simulation. The world file called from the launch is slightly modified from one used in husky_gazebo.

Simulation Configuration

The description_gazebo.launch file loads the standard Husky URDF from cirkit_unit03_description, along with the requisite Gazebo plugins for simulation. T

2019-10-19 12:34