ricardoGrando/hybrid_control_api

Hybrid Control

A hybrid control between a Jacobian Neural Network and Thormang3's Jacobian to calculate Inverse Kinematics

How to Run

cd catkin_ws/src

git clone https://github.com/ricardoGrando/hybrid_control_api.git

cd ~/catkin_ws && catkin_make -j4

roscore

Open new Terminal

source ~/catkin_ws/devel/setup.bash

rosrun hybrid_control_api fk_and_jacobian_server

Open new Terminal

chmod +x ~/catkin_ws/src/hybrid_control_api/scripts/hanoiTower.py

rosrun hybrid_control_api hanoiTower.py

Simulation on Gazebo