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#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
  1. Move to the downloaded workspace and build
$ cd snake_ws
$ catkin_make
  1. 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
  1. Start the simulation
$ roslaunch snake_control gazebo.launch gait:=false paused:=false
  1. In a new tab start the positioning script
$ cd ..
$ cd TiVoGa
$ ./get_snake_pos.py
  1. In a new tab start the gaits script
$ ./gaits.py 1

  1. Add a target in Gazebo

  2. Start recording in the positioning script