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I am working on the ClearPath Husky ROS Navigation stack and am trying to demonstrate the motion of Husky through an environment with dynamic obstacles in Gazebo.

I see that mostly such a demonstration of algorithms is done in MATLAB and Pygame in 2D and using point objects.

How can this be done in Gazebo?

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Gazebo has its own tools to simulate object dynamics. See https://classic.gazebosim.org/tutorials?tut=animated_box

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