====== Basic Operation of HUBO in Gazebo with PODO ======
**Author:** Alvaro Pintado    Email: pintado@unlv.nevada.edu
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**Date:** Last modified on 11/12/16
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**Keywords:** Humanoid, HUBO, Software, PODO
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==== Controlling HUBO in Gazebo with the Logitech Controller ====
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=== Steps for the Simulator PC ===

  - Launch PODO, then Daemon
  - The ALs you will select are
    - PODO Lan
    - Daemon
    - Manual Move
    - Freewalking
    - Omniwalking

=== Steps for the motion PC ===

  - Run Gazebo
  - Turn on the Logitech controller (center Logitech button)
  - Connect the Logitech receiver to the motion PC
  - Put HUBO in walk ready mode
  - Put HUBO into wheel mode
  - Go over to the PODO GUI on the simulator PC and select Joystart under the Joystick Tab
  - Under the joystick tab, select Wheel Manual Move Start
  - Have fun learning the controls lololol

==== Scanning the Environment ====
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  - In PODO, navigate to the Tutorial tab
    - a negative value should be set for upper limit and a positive value for the lower limit
  - Set your angle parameters for scanning and hit the Scan button
  - In RViz, you can see the scan profile