Husky UGV Tutorials

Husky is a rugged, outdoor-ready unmanned ground vehicle (UGV), suitable for research and rapid prototyping applications. Husky fully supports ROS—all of the packages are available in the Husky github org.

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Warning

These tutorials assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

Installation

• Backing Up Husky Configuration
  • Performing a Backup
• Install and Configure Husky Software
  • Installing Husky Software
  • Testing base configuration
  • Calibrating the Magnetometer
• Customize Husky Configuration
  • Environment Variables
  • Adding a Source Workspace
  • Robot Description
  • Network Configuration

Using Husky

• Simulating Husky
• Interfacing with Husky
  • Visualization
  • Control
  • Odometry
  • Diagnostics

Demo Applications: Navigation

• Husky Move Base Demo
  • Instructions
• Husky AMCL Demo
  • Instructions
• Husky Gmapping Demo
  • Instructions
• Husky Frontier Exploration Demo
  • Instructions

Demo Applications: Manipulation

• Husky UR5 Mobile Manipulation Demo (Simulation)
  • Introduction
  • Installation
  • Bring up Gazebo And The Husky
  • Stow the arm to home position
  • Bring Up MoveIt & RViz
  • Moving The Husky
  • Moving The Husky’s Arm
• Husky Dual UR5 Mobile Manipulation Demo (Simulation)
  • Introduction
  • Installation
  • Usage:
  • Controlling The Grippers
  • Navigation And Mapping with the Dual UR5 Husky

Package Components

• Husky Packages