How to run Husky simulator

To install and run the simulator is pretty simple, just follow the install instructions here: http://wiki.ros.org/husky_simulator You also need to run sudo apt-get install ros-hydro-husky-robot

To make the robot move you need to run the following: roslaunch husky_gazebo husky_empty_world.launch

This should launch a two graphical viewers, one of them will show the robot. To make the robot move in a circle you run the following comand: rostopic pub -r 1 /husky/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]' This basic command lets you turn the robot and tell it how far to move. To move in a straight line: rostopic pub -r 1 /huskcmd_vel geometry_msgs/Twist -- '[1.0, 1.0, 1.0]' '[0.0, 0.0, 0.0]'

Lidar To add a lidar to the simulator copy the base.urdf.xacro from the root of the lidar folder in the git to the /opt/ros/hydro/share/husky_description/urdf folder (requires sudo). Then run this: 'roslaunch husky_gazebo husky_empty_world.launch'