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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`.

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