def push_empty_gradients(self, executor: Executor) -> None:
"""Push empty neural net gradients TO server ROS node."""
request = Gradients.Request()
request.id = self._worker_id
self._future_gradients = self._cli['gradients'].call_async(request)
rclpy.spin_until_future_complete(self, self._future_gradients,
executor)
def push_gradients(self, executor: Executor, network: str) -> None:
"""Push neural net gradients TO server ROS node."""
request = self._policy.transfer_gradients(Gradients.Request(), network)
request.id = self._worker_id
request.name = network
self._future_gradients[network] = self._cli['gradients'].call_async(
request)
rclpy.spin_until_future_complete(self, self._future_gradients[network],
executor)