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How to load Clearpath Husky model in gazebo with ROS

asked 2013-07-15 05:38:43 -0500

Marcus Barnet gravatar image

updated 2014-01-28 17:17:16 -0500

ngrennan gravatar image

Hello, I'm using Ubuntu 12.04 and I installed ROS, Gazebo and Clearpath files. I have a Husky robot and I'd like to test my code without having to connect the robot to my USB port each time. It would be better for me to use gazebo to virtually simulate the presence of the robot but I do not know how to do this.

Can you explain me how to add Husky model to Gazebo and how to use it to connect the robot virtually to my pc to test my code, please? :)

Is there any tutorial?

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answered 2013-07-20 09:10:10 -0500

AsifA gravatar image

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:

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

Hope it works. Cheers.

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Thanks for the tip, Asif! Do you think it will work also under ros groovy? What command do you use to launch the file? it's roslaunch gazebo_worlds map_empy.launch and then roslaunch base.urdf.gazebo.launch?

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-21 22:17:29 -0500 )edit

Documents suggest that it should work for fuerte or later versions. I have used following commands: 'roslaunch husky_gazebo map_empty.launch' and then 'roslaunch husky_gazebo base.urdf.gazebo.launch'.

AsifA gravatar image AsifA  ( 2013-07-21 22:38:28 -0500 )edit

Hello Asif, I tried to do as you suggested, I was able to load the empty world, but not the husky model. I posted the error message at the end of this topic. It says me that there is no xml model to load. :(

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-22 03:12:13 -0500 )edit

The problem is that in husky_base.launch there is: $(find husky_description)/models/husky/husky.sdf -gazebo -model husky" but i have no file named husky.sdf in that folder.. I have no husky.sdf at all.

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-22 03:34:41 -0500 )edit

It worksss!! Thank you Asif!! Do you know how can I control husky virtual robot with my C++ code under Gazebo?

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-22 03:48:08 -0500 )edit

Great. I don't know, I have to work as you are :)

AsifA gravatar image AsifA  ( 2013-07-22 03:51:22 -0500 )edit

Marcus, to control the robot, please publish your desired linear and angular velocities to /cmd_vel topic. If you have further questions, please feel free to contact Clearpath, and we'll be happy to help you. It seems like the original question of this thread is resolved?

yanma gravatar image yanma  ( 2013-07-25 07:11:46 -0500 )edit

Hello Yanma, I already contacted Clearpath but I received no help about this topic. Clearpath sent me Husky A200 mobile robot, but I'm not able to start my research work since I do not know how to run my C++ code and directly drive my husky model in Gazebo. I'm really sad.

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-26 04:19:51 -0500 )edit
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answered 2013-07-16 09:41:11 -0500

davinci gravatar image
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Hello and thank you for your answer. Unfortunately, I already read that documents but I wasn't able to find any information on how to load the model. Husky_simulator git package does not compile because there is no "make" after the Cmake.

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-18 22:48:12 -0500 )edit

Can you point me to the tutorial paragraph where it is explained how to load a model, please? I really wasn't able to find it :(

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-18 22:52:52 -0500 )edit
davinci gravatar image davinci  ( 2013-07-18 23:59:50 -0500 )edit

If I well understand, that link explains how to add a sensor to an existing robot under Gazebo. The problem is that Clearpath Husky is not present in the Gazebo robot list. On their website it is only possible to download a player driver. :(

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-19 01:14:57 -0500 )edit

I think you should place it under ~/.gazebo/models (not using groovy so not sure)

davinci gravatar image davinci  ( 2013-07-19 10:53:41 -0500 )edit

the problem is that i have no xml model :(

Marcus Barnet gravatar image Marcus Barnet  ( 2013-07-22 03:11:08 -0500 )edit
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answered 2013-07-22 03:10:10 -0500

Marcus Barnet gravatar image

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

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I will suggest that you dont put multiple answers to your question just edit your question every time you try something new So every one can find the updates easily at one place.

Zee-Q gravatar image Zee-Q  ( 2013-08-01 14:06:05 -0500 )edit
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answered 2013-07-16 08:42:23 -0500

Marcus Barnet gravatar image

Anyone? :(

I really want to solve this problem :(

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Asked: 2013-07-15 05:38:43 -0500

Seen: 2,054 times

Last updated: Jul 22 '13