Gazebo snake robot controlling scripts: sin wave, square wave and joint position are in move folder.
In the folders: line, rectangle, circle there are ~10 screenshots of execution using gazebo, rviz and cpp code. The folder name contains cpp scripts and CMakeLists for line, rectangle and circle trajectory of snake robot's end-effector. The rest are system files, containing specified dependencies and etc (yaml, launch files for rviz and gazebo)