 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Husky Move Base Demo
Description: Running Husky with a basic move_base setup, with no mapping or localization.Keywords: Clearpath Husky
Tutorial Level: BEGINNER
Next Tutorial: Husky AMCL Demo
This tutorial shows you how to use move_base to perform basic autonomous planning and movement on a simulated Husky, or a factory-standard Husky with a laser scanner publishing on the scan topic.
To adapt this demo to your own Husky, you may need to clone the husky_navigation repository, and modify the relevant parameters. To learn about move_base and the navigation stack, see the Navigation Tutorials.
Instructions
- Please make sure that the Husky navigation demo package is installed:
$ sudo apt-get install ros-indigo-husky-navigation ros-indigo-husky-gazebo ros-indigo-husky-viz
- Set an environmental variable HUSKY_GAZEBO_DESCRIPTION:
$ export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro
- In three separate terminal windows:
- Start the Clearpath-configured Husky simulation environment:
$ roslaunch husky_gazebo husky_playpen.launch
Start the Clearpath-configured rviz visualizer:
$ roslaunch husky_viz view_robot.launch
Start the move_base demo:
$ roslaunch husky_navigation move_base_mapless_demo.launch
- Start the Clearpath-configured Husky simulation environment:
In the Rviz visualizer, make sure the visualizers in the Navigation group are enabled.
Use the 2D Nav Goal tool in the top toolbar to select a movement goal in the visualizer. Make sure to select an unoccupied (dark grey) or unexplored (light grey) location.
- Note that in this example, the robot has no absolute localization source, and the position estimate will drift relative to the world. See the next tutorial for a demo with localization.
