Husky 200 Simulator

Launching Simulator

To launch Gazbo with the Husky 200 robot in it run the following command.

ros2 launch clearpath_gz simulation.launch.py setup_path:=$HOME/clearpath

Launch MoveIt! by passing the same robot setup directory and setting the simulation flag.

ros2 launch clearpath_manipulators moveit.launch.py setup_path:=$HOME/clearpath use_sim_time:=true

Launch RViz by passing the robot's namespace and enabling the simulation flag.

ros2 launch clearpath_viz view_moveit.launch.py namespace:=a200_0000 use_sim_time:=True