The Husky A200 is an Unmanned Ground Vehicle (UGV) developed by Clearpath Robotics, one of the spin-off companies of Willow Garage. As we can see in the following picture, it is a rugged, outdoor vehicle, which is equipped with an Axis camera, GPS, and integrates the ROS framework:
Here we focus on running Husky on simulation, so just run the following:
sudo apt-get install ros-groovy-husky-simulator
Alternatively, you can clone the repository in order to have the latest version:
git clone git://github.com/clearpathrobotics/husky_simulator.git
We load an empty map in Gazebo:
roslaunch husky_gazebo map_empty.launch
Now just load Husky with the following:
roslaunch husky_gazebo husky_base.launch
This can also be done manually within Gazebo. You will see the robot as shown in the following screenshot:
Then, we can use the PR2 tele-operation node to move it, so just run the following:
rosrun pr2_teleop...