README.md

EDMO snake robot with Central Pattern Generation Controller

This setup is tested using ROS Noetic and Gazebo 11.

General visualization commands

To visualize the EDMO snake robot modules and TF tree in RViz, run the following command:

roslaunch edmo_sim display.launch

To start the Gazebo simulation with spawned EDMO snake robot and enabled controllers, run the following command:

roslaunch edmo_sim sim_eval_realtime.launch

Control robot joints using the RQT GUI:

rosrun rqt_gui rqt_gui

or control joints usin the CPG controller:

rosrun edmo_sim cpg_control.py __ns:=edmo1 /clock:=/edmo1_clock/

Optimization setup commands

To start 3 parallel EDMO simulations with 6x times speed increase, run:

roslaunch edmo_sim sim_eval_headless_comms.launch --screen

Now in separate terminals run CPG controller for each robot

rosrun edmo_sim connection_cpg_fitness.py __ns:=edmo1 /clock:=/edmo1_clock/
rosrun edmo_sim connection_cpg_fitness.py __ns:=edmo2 /clock:=/edmo2_clock/
rosrun edmo_sim connection_cpg_fitness.py __ns:=edmo3 /clock:=/edmo3_clock/