20 lines
582 B
Markdown
20 lines
582 B
Markdown
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# Husky 200 Simulator
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## Launching Simulator
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To launch Gazbo with the Husky 200 robot in it run the following command.
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```bash
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ros2 launch clearpath_gz simulation.launch.py setup_path:=$HOME/clearpath
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```
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Launch MoveIt! by passing the same robot setup directory and setting the simulation flag.
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```
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ros2 launch clearpath_manipulators moveit.launch.py setup_path:=$HOME/clearpath use_sim_time:=true
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```
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Launch RViz by passing the robot's namespace and enabling the simulation flag.
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```
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ros2 launch clearpath_viz view_moveit.launch.py namespace:=a200_0000 use_sim_time:=True
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```
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