babbling_playground

Requeriments:

ROS 1 Noetic, Gazebo, Catkin

To setup:

1. Create a catkin workspace
2. Clone the repository into the src folder
3. Outside the src directory, install the dependencies:

rosdep install -i --from-path src

4. Build the workspace

catkin build babbling_example

5. Source the workspace

source devel/setup.bash 

To run

1. Run the simulator:

roslaunch babbling_example simulation.launch

2. Run the babbling routine:

rosrun babbling_example mirror_babbling.py

This routine, just moves the robot and takes a snapshot, storing the (image, state) pair as a training example.