I tried to use rolaunch base.urdf.gazebo.launch but it seems it doesn't exist. I used "husky_base" but it says me that there i no xml model.

This is the error:

xxx@mate-core:~/Downloads/husky_simulator-master/husky_gazebo/launch$ roslaunch husky_gazebo base.urdf.gazebo.launch cannot locate [base.urdf.gazebo.launch] in package [husky_gazebo] xxx@mate-core:~/Downloads/husky_simulator-master/husky_gazebo/launch$ roslaunch husky_gazebo husky_base.launch map_empty.launch
xxx@mate-core:~/Downloads/husky_simulator-master/husky_gazebo/launch$ roslaunch husky_gazebo husky_base.launch ... logging to /home/xxx/.ros/log/f1354dae-f2ce-11e2-8d19-001cbf1c6085/roslaunch-mate-core-3362.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mate-core:33366/

SUMMARY

PARAMETERS * /rosdistro * /rosversion * /use_sim_time

NODES / spawn_robot (gazebo/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[spawn_robot-1]: started with pid [3380] loading model xml from file Error: file does not exist [spawn_robot-1] process has finished cleanly log file: /home/mate/.ros/log/f1354dae-f2ce-11e2-8d19-001cbf1c6085/spawn_robot-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done