def __init__(self, wp=None):
"""
:param wp: world params
"""
self._logger = get_logger(self.__class__.__name__,
params['world']['logger'])
self.wp = wp if wp is not None else params['world']
def __init__(self, read_only=False):
self._use_cp_cost = True
self._planner_type = params['planning']['planner_type']
self._read_only = read_only
self._use_dynamics = True
self._async_on = False
self._setup()
self._logger = get_logger(self.__class__.__name__,
params['probcoll']['logger'],
os.path.join(self._save_dir, 'dagger.txt'))
self._mpc_policy = self._create_mpc()
shutil.copy(
params['yaml_path'],
os.path.join(self._save_dir,
'{0}.yaml'.format(params['exp_name'])))
def __init__(self, dynamics):
Agent.__init__(self, dynamics)
rccar_topics = params['rccar']['topics']
self._logger = get_logger(
self.__class__.__name__, 'info',
os.path.join(os.path.join(params['exp_dir'], params['exp_name']),
'debug.txt'))
self.sim = params['world']['sim']
if self.sim:
service = params['sim']['srv']
self._logger.info("Waiting for service")
ros_utils.wait_for_service(service)
self._logger.info("Connected to service")
self.srv = ros_utils.ServiceProxy(service, bair_car.srv.sim_env)
data = self.srv(reset=True)
self.sim_coll = data.coll
self.sim_image = data.image
self.sim_depth = data.depth
self.sim_back_image = data.back_image
self.sim_back_depth = data.back_depth
self.sim_state = data.pose
self.sim_vel = 0.0
self.sim_steer = 0.0
self.sim_reset = False
self.sim_last_coll = False
### subscribers
self.image_callback = ros_utils.RosCallbackAll(rccar_topics['camera'],
sensor_msgs.msg.Image,
max_num_msgs=2,
clear_msgs=False)
self.coll_callback = ros_utils.RosCallbackEmpty(
rccar_topics['collision'], std_msgs.msg.Empty)
### publishers
self.cmd_steer_pub = ros_utils.Publisher(rccar_topics['cmd_steer'],
std_msgs.msg.Float32,
queue_size=10)
self.cmd_vel_pub = ros_utils.Publisher(rccar_topics['cmd_vel'],
std_msgs.msg.Float32,
queue_size=10)
self.pred_image_pub = ros_utils.Publisher(rccar_topics['pred_image'],
sensor_msgs.msg.Image,
queue_size=1)
self.cv_bridge = cv_bridge.CvBridge()
def __init__(self, on_replay=False, parent_exp_dir=None):
self.on_replay = on_replay
self._save_dir = os.path.join(params['exp_dir'], params['exp_name'])
yamls = [
fname for fname in os.listdir(self._save_dir)
if '.yaml' in fname and '~' not in fname
]
yaml_path = os.path.join(self._save_dir, yamls[0])
load_params(yaml_path)
params['yaml_path'] = yaml_path
if self.on_replay:
self._save_dir = os.path.join(self._save_dir, 'replay')
self._logger = get_logger(self.__class__.__name__, 'info')
def __init__(self, meta_data):
use_obs = False
Policy.__init__(self, meta_data['mpc']['H'], use_obs, meta_data)
self._logger = get_logger(self.__class__.__name__, 'warn')
self.cmd_vel_callback = ros_utils.RosCallbackAll(
meta_data['bebop']['topics']['cmd_vel'],
geometry_msgs.Twist,
max_num_msgs=2) # so that don't just get the cmd_vel we sent
self.measured_vel_callback = ros_utils.RosCallbackMostRecent(
meta_data['bebop']['topics']['measured_vel'],
bebop_msgs.Ardrone3PilotingStateSpeedChanged)
while not rospy.is_shutdown():
measured_vel = self.measured_vel_callback.get()
if measured_vel is not None:
self.last_measured_vel = measured_vel
break
def __init__(self, meta_data=None, config=None):
self._meta_data = meta_data if meta_data is not None else default_meta_data
self._config = config if config is not None else self._meta_data['cem']
self._logger = get_logger(self.__class__.__name__, 'fatal')
self.means, self.covs = [], [] # for recording
def __init__(self, dynamics):
self._dynamics = dynamics
self._logger = get_logger(self.__class__.__name__,
params['world']['logger'])