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Well, I also intend to work on Husky A200. I just managed to bring my husky in gazebo @fuerte by a simple way, please follow:

Install husky_simulator i.e sudo apt-get install ros-fuerte-husky-simulator.
Launch the map_empy.launch file placed in ...../husky_simulator/husky_gazebo/launch folder.
Launch the base.urdf.gazebo.launch file placed in the same folder.

Hope it works. Cheers.

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