Husky AGV

Repository With all New Husky Nodes

1. Running Husky

• Husky Launches a service called husky-core which starts as soon as you press the button on it Restart the service- sudo service husky-core restart
• View Service Log
  sudo tail /var/log/upstart/husky-core.log -n 30
• Location of the launch files the service launches when it starts
  /etc/ros/indigo/husky-core.d

2. Setup Your Laptop for Husky

• You can connect to husky via LAN or WiFi. Refer This link to setup your laptop-
  Husky Setup
• Run the Setup Launch File
  roslaunch setup_husky setup.launch
  1. This script does 2 things As the ros::Time on the Husky computer and your laptop isn't the same you it sets the paramater use_sim_time true for the nodes of your laptop to subscribe to /clock(published by husky) instead.
  2. Launches a configured rviz