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husky_simulator: husky_gazebo | husky_gazebo_plugins

Package Summary

husky_gazebo

husky_simulator: husky_gazebo | husky_gazebo_plugins

Package Summary

The husky_gazebo package

husky_simulator: husky_gazebo

Package Summary

Clearpath Husky Simulator bringup

  • Maintainer status: maintained
  • Maintainer: Paul Bovbel <pbovbel AT clearpathrobotics DOT com>
  • Author: Ryan Gariepy <rgariepy AT clearpathrobotics DOT com>, Prasenjit Mukherjee <pmukherj AT clearpathrobotics DOT com>, Paul Bovbel <pbovbel AT clearpathrobotics DOT com>, Devon Ash <dash AT clearpathrobotics DOT com>
  • License: BSD
  • Bug / feature tracker: https://github.com/husky/husky_simulator/issues
  • Source: git https://github.com/husky/husky_simulator.git (branch: indigo-devel)
husky_simulator: husky_gazebo

Package Summary

Clearpath Husky Simulator bringup

  • Maintainer status: maintained
  • Maintainer: Paul Bovbel <paul AT bovbel DOT com>, Tony Baltovski <tbaltovski AT clearpathrobotics DOT com>
  • Author: Ryan Gariepy <rgariepy AT clearpathrobotics DOT com>, Prasenjit Mukherjee <pmukherj AT clearpathrobotics DOT com>, Paul Bovbel <paul AT bovbel DOT com>, Devon Ash <dash AT clearpathrobotics DOT com>
  • License: BSD
  • Bug / feature tracker: https://github.com/husky/husky_simulator/issues
  • Source: git https://github.com/husky/husky.git (branch: kinetic-devel)

See Robots/Husky for instructions and tutorials.

Overview

The husky_gazebo package contains launch and configuration files for using the Husky robot in a simulated environment (i.e. Gazebo).

Launch Simulation

The husky_empty_world.launch file pulls in ros_control configuration from husky_control, starts a Gazebo instance with an empty world, and loads the simulated Husky description via description_gazebo.launch.

The husky_playpen.launch file demonstrates how to select an alternative world for the simulation. This instance loads a Clearpath designed playpen for Husky. Go have some fun!

Simulation Configuration

The description_gazebo.launch file loads the standard Husky URDF from husky_description, along with the requisite Gazebo plugins for simulation. This URDF can be easily extended by invoking the <xacro:husky_gazebo_robot /> macro in your custom description file, as demonstrated in urdf/description.gazebo.xacro.


2019-07-13 12:42