To adapt this demo to your own Husky, you may need to clone the husky_navigation repository, and modify the relevant parameters.

1. In three separate terminal windows:
   1. Start the Clearpath-configured Husky simulation environment:

      • $ roslaunch husky_gazebo husky_playpen.launch

   2. Start the Clearpath-configured rviz visualizer:

      • $ roslaunch husky_viz view_robot.launch