#SNN Controller for Bio-Snake Robot Made in TUM for the course 'Development and Control of a Bio-Snake Robot' Works with ROS Kinetic on Ubuntu 16.04

Installation

1. Install Gazebo and ROS
2. Clone the snake simulation:

$ git clone https://github.com/alexansari101/snake_ws

3. Move to the downloaded workspace and build

$ cd snake_ws
$ catkin_make

4. Go to the parent directory and clone this repo

$ git clone https://github.com/KarthikeyaKaushik/TiVoGa 

Running

1. Go to the directory containing both repos

2. Source

$ cd snake_ws
$ source devel/setup.bash

3. Start the simulation

$ roslaunch snake_control gazebo.launch gait:=false paused:=false

4. In a new tab start the positioning script

$ cd ..
$ cd TiVoGa
$ ./get_snake_pos.py

5. In a new tab start the gaits script

$ ./gaits.py 1

6. Add a target in Gazebo

7. Start recording in the positioning script