def __init__(self):
mode = rospy.get_param("~task_mode")
scenerios_json_path = rospy.get_param("~scenerios_json_path")
paths = {"scenerios_json_path": scenerios_json_path}
self.task = get_predefined_task(mode, PATHS=paths)
# if auto_reset is set to true, the task generator will automatically reset the task
# this can be activated only when the mode set to 'ScenerioTask'
auto_reset = rospy.get_param("~auto_reset")
# if the distance between the robot and goal_pos is smaller than this value, task will be reset
self.delta_ = rospy.get_param("~delta")
robot_odom_topic_name = rospy.get_param("robot_odom_topic_name",
"odom")
auto_reset = auto_reset and mode == "ScenerioTask"
self.curr_goal_pos_ = None
if auto_reset:
rospy.loginfo(
"Task Generator is set to auto_reset mode, Task will be automatically reset as the robot approaching the goal_pos"
)
self.reset_task()
self.robot_pos_sub_ = rospy.Subscriber(
robot_odom_topic_name, Odometry, self.check_robot_pos_callback)
else:
# declare new service task_generator, request are handled in callback task generate
self.task_generator_srv_ = rospy.Service('task_generator', Empty,
self.reset_srv_callback)
def __init__(self):
mode = rospy.get_param("task_mode")
self.task = get_predefined_task(mode)
#declare new service task_generator, request are handled in callback task generate
self.task_service_server = rospy.Service('task_generator', Empty,
self.callback_task_generate)
import time
import os
import sys
from stable_baselines3 import A2C
from rl_agent.envs.flatland_gym_env import FlatlandEnv
from task_generator.tasks import get_predefined_task
import rospy
import rospkg
rospy.init_node("test")
# task = get_predefined_task()
task = get_predefined_task(
mode="ScenerioTask",
PATHS={
"scenerios_json_path":
"/home/joe/ssd/projects/arena-rosnav-ws/src/arena-rosnav/tmp/example_json_path.json"
})
models_folder_path = rospkg.RosPack().get_path('simulator_setup')
arena_local_planner_drl_folder_path = rospkg.RosPack().get_path(
'arena_local_planner_drl')
env = FlatlandEnv(
task,
os.path.join(models_folder_path, 'robot', 'myrobot.model.yaml'),
os.path.join(arena_local_planner_drl_folder_path, 'configs',
'default_settings.yaml'),
"rule_00",
True,
)
model = A2C('MlpPolicy', env, verbose=1)
import os
from stable_baselines3 import A2C
from rl_agent.envs.flatland_gym_env import FlatlandEnv
from task_generator.tasks import get_predefined_task
import rospy
import rospkg
rospy.init_node("test")
task = get_predefined_task()
models_folder_path = rospkg.RosPack().get_path('simulator_setup')
arena_local_planner_drl_folder_path = rospkg.RosPack().get_path('arena_local_planner_drl')
env = FlatlandEnv(task,os.path.join(models_folder_path,'robot','myrobot.model.yaml'),
os.path.join(arena_local_planner_drl_folder_path,'configs','default_settings.yaml'),True,
)
model = A2C('MlpPolicy', env, verbose=1)
import time
s = time.time()
model.learn(total_timesteps=3000)
print("steps per second: {}".format(1000/(time.time()-s)))
# obs = env.reset()
# for i in range(1000):
# action, _state = model.predict(obs, deterministic=True)
# obs, reward, done, info = env.step(action)
# env.render()
# if done:
# obs = env.reset()
import time
import os
import sys
from stable_baselines3 import A2C
from rl_agent.envs.flatland_gym_env import FlatlandEnv
from task_generator.tasks import get_predefined_task
import rospy
import rospkg
rospy.init_node("test")
# task = get_predefined_task()
task = get_predefined_task(
mode="ScenerioTask",
PATHS={
"scenerios_json_path":
"/home/joe/ssd/projects/arena-rosnav-ws/src/arena-rosnav/simulator_setup/scenerios/example_scenerio.json"
})
models_folder_path = rospkg.RosPack().get_path('simulator_setup')
arena_local_planner_drl_folder_path = rospkg.RosPack().get_path(
'arena_local_planner_drl')
env = FlatlandEnv(
task,
os.path.join(models_folder_path, 'robot', 'myrobot.model.yaml'),
os.path.join(arena_local_planner_drl_folder_path, 'configs',
'default_settings.yaml'),
"rule_00",
True,
)
model = A2C('MlpPolicy', env, verbose=1)
def __init__(self):
self.task = get_predefined_task()
self.task_service_server = rospy.Service('task_generator', Empty,
self.callback_task_generate)