Package Summary

Tags No category tags.
Version 0.3.3
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-04-18

Package Description

Clearpath Husky Simulator bringup

Additional Links


  • Paul Bovbel
  • Tony Baltovski


  • Ryan Gariepy
  • Prasenjit Mukherjee
  • Paul Bovbel
  • Devon Ash
No README found. See repository README.

Changelog for package husky_gazebo

0.3.3 (2019-04-18)

0.3.2 (2019-03-25)

  • Added Z to spawn husky launch
  • Contributors: Dave Niewinski

0.3.1 (2018-08-02)

0.3.0 (2018-04-11)

  • Fixed typo in URLs.
  • Corrected the kinect scan topic name so it matches the laser scanner topic name.
  • description.launch should be launched only once when the flag multimaster is false. This commit fixes #47. Also delete the urdf subdirectory from the installation list of the package husky_gazebo since the directory doesn\'t exist. HOW BUILT \$ catkin_make_isolated --install --use-ninja HOW VERIFIED \$ roslaunch husky_gazebo husky_playpen.launch \$ roslaunch husky_viz view_robot.launch Verify that the LiDAR is present on the gazebo husky and works as expected. Change-Id: I8797d561489250417dc8fe2b49d958993ca7949c Signed-off-by: Wei Ren <>
  • Remove defunct email address
  • Updated maintainers.
  • Temp commit
  • Add interface definitions
  • Update bringup for multirobot
  • Purge more UR; Implement urdf_extras
  • Update URDF for multirobot
  • Move packages into monorepo for kinetic; strip out ur packages
  • Contributors: Farzad Niroui, Paul Bovbel, Tony Baltovski, Wei Ren

0.2.6 (2016-10-26)

  • spawn_husky.launch: enable to use custom controller files, i.e effort controller
  • spawn_husky.launch: support argument to set urdf file and initial pose
  • Contributors: Kei Okada

0.2.5 (2015-12-31)

  • Removed duplicate SICK laser plugin in husky_gazebo, since husky_description already contains a SICK laser plugin from the lms package.
  • Contributors: Peiyi Chen

0.2.4 (2015-07-08)

  • Add pointcloud to laserscan config for simulated kinect
  • Contributors: Paul Bovbel

0.2.3 (2015-04-13)

  • Fix conflict with underlay When using -z check, underlayed instances of husky_gazebo would override overlays.
  • Contributors: Paul Bovbel

0.2.2 (2015-04-08)

  • Reduce physics update rate
  • Integrate husky_customization workflow
  • Contributors: Paul Bovbel

0.2.1 (2015-03-23)

  • Fix package urls
  • Add missing dependency
  • Contributors: Paul Bovbel

0.2.0 (2015-03-23)

  • Refactor URDF
  • Add UR5 and Kinect simulation
  • Contributors: Paul Bovbel, TheDash

0.1.4 (2015-02-11)

  • Add missing dependency
  • Contributors: Paul Bovbel

0.1.3 (2015-02-06)

  • Fix installing
  • Contributors: Paul Bovbel

0.1.2 (2015-01-30)

  • Update authors
  • Add missing dependency
  • Reduce sensor range
  • Contributors: Paul Bovbel

0.1.1 (2015-01-14)

  • Remove multirobot prefixing, experiment later
  • Contributors: Paul Bovbel

0.1.0 (2015-01-13)

  • Major refactor for indigo:
    • All gazebo plugins moved to urdf/description.gazebo.xacro from husky_description
    • Ported to ros_control
  • Contributors: James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma

0.0.3 (2013-11-01)

0.0.2 (2013-09-30)

  • added package installation rules

0.0.1 (2013-09-29)

  • Initial release for Hydro.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

  • launch/husky_empty_world.launch
    • Software License Agreement (BSD) \file husky_empty_world.launch \authors Paul Bovbel \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • world_name [default: worlds/]
      • laser_enabled [default: true]
      • kinect_enabled [default: false]
  • launch/spawn_husky.launch
    • Software License Agreement (BSD) \file gazebo_description.launch \authors Paul Bovbel
      • multimaster [default: false]
      • robot_namespace [default: /]
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • yaw [default: 0.0]
      • laser_enabled [default: $(optenv HUSKY_LMS1XX_ENABLED false)]
      • kinect_enabled [default: $(optenv HUSKY_UR5_ENABLED false)]
      • urdf_extras [default: $(optenv HUSKY_URDF_EXTRAS)]
      • laser_enabled [default: $(arg laser_enabled)]
      • kinect_enabled [default: $(arg kinect_enabled)]
      • urdf_extras [default: $(arg urdf_extras)]
  • launch/multi_husky_playpen.launch
    • Software License Agreement (BSD) \file multi_husky_playpen.launch \authors Paul Bovbel
      • laser_enabled [default: true]
      • ur5_enabled [default: false]
      • kinect_enabled [default: false]
  • launch/husky_playpen.launch
    • Software License Agreement (BSD) \file husky_playpen.launch \authors Paul Bovbel
      • laser_enabled [default: true]
      • kinect_enabled [default: false]
  • launch/playpen.launch
    • Software License Agreement (BSD) \file husky_playpen.launch \authors Paul Bovbel


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