.. _run_gazebo_simulation:

Run Gazebo Simulation
=====================

#. **Copy the two generated ROS packages over to your Ubuntu 16.04.3 LTS machine/partition** (hebi_daisy_hexapod_test_generated_launch... and hebi_daisy_hexapod_test_generated_urdf...).

   .. image:: images/generated_artifacts.png

*On Ubuntu 16.04.3 LTS machine/partition:*

#. Open a terminal window and run:

  .. code-block:: bash

     ~/tasck/behavior_library_catkin_ws/catkin_ws/devel/setup.bash
     roslaunch hebi_daisy_hexapod_generated_launch... run_robot_simulation.launch

#. Hit 'play' button on bottom bar in Gazebo GUI when it appears - ROS time is slaved to Gazebo simulation time.
#. One of the terminal windows will prompt you to enter keystrokes to control the Daisy robot (once it finishes standing up):

   W - forward

   X - reverse

   A - strafe left

   D - strafe right

   Q - rotate left

   E - rotate right

   S - stop

**Congratulations!** You have completed the **HEBI Daisy Hexapod Tutorial**.