def __init__(self,
robot_cls: type,
task_cls: type,
robot_kwargs: Dict = None,
task_kwargs: Dict = None):
if task_kwargs is None:
task_kwargs = {}
if robot_kwargs is None:
robot_kwargs = {}
ut_launch.set_network_env_vars()
os.environ['RMW_IMPLEMENTATION'] = 'rmw_fastrtps_cpp'
# Check if rclpy has been initialised before
context = rclpy.get_default_context()
if not context.ok():
rclpy.init()
sim_time_param = rclpy.parameter.Parameter('use_sim_time', value=True)
self.node = rclpy.node.Node(robot_cls.__name__,
parameter_overrides=[sim_time_param])
# self.node.set_parameters([sim_time])
self.__robot: LobotArmBase = robot_cls(self.node, **robot_kwargs)
self.__task = task_cls(self.node, self.__robot, **task_kwargs)
self.action_space = self.__robot.get_action_space()
self.observation_space = self.__get_observation_space()
# Set up ROS related variables
self.__episode_num = 0
self.__cumulated_episode_reward = 0
self.__cumulated_reward_noise = 0
self.__cumulated_norm_reward = 0
self.__cumulated_unshaped_reward = 0
self.__cumulated_exp_reward = 0
self.__step_num = 0
self.__last_done_info = None
now = datetime.now()
table_name = f'run_{now.strftime("%d_%m_%Y__%H_%M_%S")}'
self.__logger = Logger(table_name)
def test_init_with_domain_id():
rclpy.init(domain_id=123)
assert rclpy.get_default_context().get_domain_id() == 123
rclpy.shutdown()
context = rclpy.context.Context()
rclpy.init(context=context, domain_id=123)
assert context.get_domain_id() == 123
rclpy.shutdown(context=context)
def __init__(self):
super().__init__('zumi_cmd_vel_publish')
qos = QoSProfile(depth=10)
# Initialise subscribers
self.cmd_vel_sub = self.create_subscription(Twist, 'cmd_vel',
self.cmd_vel_callback, qos)
"""************************************************************
** Initialise timers
************************************************************"""
self.update_timer = self.create_timer(
0.010, # unit: s
self.update_callback)
self.get_logger().info("Zumin on ")
# Set the socket parameters
HOST = ''
PORT = 10000
buf = 1024
ADDR = (HOST, PORT)
# Create socket and bind to address
self.serverSocket = socket(AF_INET, SOCK_STREAM)
self.serverSocket.bind(ADDR)
print('bind')
# 연결 수신 대기 상태
self.serverSocket.listen(100)
print('listen')
# 연결 수락
self.clientSocekt, addr_info = self.serverSocket.accept()
print('accept')
print('--client information--')
print(self.clientSocekt, )
rclpy.get_default_context().on_shutdown(self.fnShutDown)
print('close')
def set_preempt_handler(sc):
"""Sets a ROS pre-shutdown handler to preempt a given SMACH container when
ROS receives a shutdown request.
This can be attached to multiple containers, but only needs to be used on
the top-level containers.
@type sc: L{smach.Container}
@param sc: Container to preempt on ROS shutdown.
"""
### Define handler
def handler(sc):
sc.request_preempt()
while sc.is_running():
rclpy.logging.get_logger(__name__).info(
"Received shutdown request... sent preempt... waiting for state machine to terminate."
)
time.sleep(1.0)
### Add handler
rclpy.get_default_context().on_shutdown(lambda: handler(sc))
def __init__(self, robot_cls: type, task_cls: type, state_noise_mu: float = None, state_noise_sigma: float = None):
ut_launch.set_network_env_vars()
os.environ["RMW_IMPLEMENTATION"] = 'rmw_opensplice_cpp'
context = rclpy.get_default_context()
if not context.ok():
rclpy.init()
sim_time_param= rclpy.parameter.Parameter("use_sim_time", value=True)
self.node = rclpy.node.Node(robot_cls.__name__, parameter_overrides=[sim_time_param])
# self.node.set_parameters([sim_time])
self.__robot: LobotArmBase = robot_cls(self.node)
self.__robot.state_noise_mu = state_noise_mu
self.__robot.state_noise_sigma = state_noise_sigma
self.__task = task_cls(self.node, self.__robot)
self.action_space = self.__robot.get_action_space()
self.observation_space = self.__robot.get_observation_space()
# Set up ROS related variables
self.__episode_num = 0
self.__cumulated_episode_reward = 0
self.__step_num = 0
self.reset()
def __init__(self, robot_cls: type, task_cls: type, robot_kwargs: Dict = None, task_kwargs: Dict = None):
if task_kwargs is None:
task_kwargs = {}
if robot_kwargs is None:
robot_kwargs = {}
ut_launch.set_network_env_vars()
os.environ['RMW_IMPLEMENTATION'] = 'rmw_fastrtps_cpp'
# Check if rclpy has been initialised before
context = rclpy.get_default_context()
if not context.ok():
rclpy.init()
sim_time_param = rclpy.parameter.Parameter('use_sim_time', value=True)
self.node = rclpy.node.Node(robot_cls.__name__, parameter_overrides=[sim_time_param])
# self.node.set_parameters([sim_time])
self.__robot: LobotArmBase = robot_cls(self.node, robot_kwargs)
self.__task = task_cls(self.node, self.__robot, task_kwargs)
self.action_space = self.__robot.get_action_space()
self.observation_space = self.__get_observation_space()
# Set up ROS related variables
self.__episode_num = 0
self.__cumulated_episode_reward = 0
self.__step_num = 0
self.reset()
def on_shutdown(self, handler):
rclpy.get_default_context().on_shutdown(handler)