rl_snake_robot

build a ros/gazebo simulator for snake_like robot, test deep reinforcement learning for climbing pipeline

environments

ROS+ros_control+gazebo, Anaconda + tensorflow

firstly, load the model of snake-like robot

extract snake_climb
cd snake_climb
source ./devel/setup.bash
cd src
roslaunch snake_climb/launch/snake_world.launch

secondly, load the PID controller for the joint angle of snake-like robot

cd snake_climb
source ./devel/setup.bash
cd src
roslaunch snake_climb/snake_control/launch/snake_control.launch

test the deep reinforcement learning

all related code are located in the folder snake_climb/src/snake_climb/src