target_reaching_nengo

Target reaching code with primitives, arm_robot and Nengo

• BaseNetwork with 3xVoluntary (near-far, up-down, left-right) is initialized in Main_TR_CL-class
• The network gets current error between target and TCP from Error-class via subscribing to error-topic
• The network gets current positions of the arm joints from Feedback-class via subscribing to joint_states-topic
• The network publishes desired arm joints positions in BaseNetwork-class
• Mapping from desired arm joints positions to arm joint controller is implemented in TargetReachingToHBPMapping-class

To start the main target reaching

• gazebo with arm and target should be running
• start nengo:

roslaunch target_reaching_nengo Main_TR_CL_nengo.launch

• for HBP mapping is necessary:

roslaunch target_reaching_nengo hbp_mapping.launch