Planning and Control Algorithms for Robotics

ros-pnc is a ROS integrated Software designed for generating trajectories for a robot system and stabilizing the system over the trajectories.

This software framework is developed by Jee-Eun Lee (https://github.com/jeeeunlee/ros-pnc.git)

based on C++ library PnC by junhyeok Ahn(https://github.com/junhyeokahn/PnC.git)

PnC for Magento

Simulator environment and Controllers for Magento is available.

Clone the repository

With version 2.13 of Git and later

git clone --recurse-submodules [email protected]:jeeeunlee/ros-pnc.git

With version 1.9 of Git

git clone --recurse [email protected]:jeeeunlee/ros-pnc.git

Install Required Dependancies

• install ros1
• run source install_sim.sh for Dart 6.9.0 and pybullet

Compile the Code

source /opt/ros/[your-ros-dist]/setup.bash
catkin_make -DCMAKE_BUILD_TYPE=Release

Run the Code

cd /path/to/project
source devel/setup.bash
rosrun my_simulator run_magneto "config/Magneto/SIMULATIONWALK.yaml"