arboc_workspace

A ROS workspace with packages required for simulated control of a hyper redundant snake robot [Arboc].

Tested and developed with ROS-Kinetic and ubuntu 16.04.

Getting Started:

Clone the repository to your home directory,

$ git clone https://github.com/imsenthur/arboc_workspace.git

Build and source:

$ cd arboc_workspace
$ catkin_make
$ source devel/setup.bash

Make executables:

$ roscd snake_control/scripts/
$ sudo chmod +x gaits.py

Launch Gazebo:

$ roslaunch snake_control gazebo.launch gait:=true

If the commands are successful, gaits.py should send joint commands that cause the snake robot simulation in gazebo to start sidewinding.

Improvements:

Further modifications can be made to the hirose curve equation which serves as the source for all the joint commands generated by gaits.py inorder to model and simulate numerous gaits.

Credits:

Credits to Alex Ansari for his work on the control packages for CMU Biorobotics Lab's SEA snake which served as a huge inspiration for the packages included in this workspace.