Run Gazebo Simulation

1. 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…).

   

On Ubuntu 16.04.3 LTS machine/partition:

1. Open a terminal window and run:

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

1. Hit ‘play’ button on bottom bar in Gazebo GUI when it appears - ROS time is slaved to Gazebo simulation time.

2. 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.