This package is an addition to Robil2 packages. Go to src->Simulation ans move the package "src" to robil_lihi Move packages Framework and 3party to robil_lihi

In order to run it you should download gym:

sudo pip install gym
cd ~
git clone https://github.com/erlerobot/gym-gazebo
cd gym-gazebo
sudo pip install -e .

In addition, you need to install pytorch (for PPO) and TensorFlow2 (for DQN)

Run simulation:

roslaunch robil_lihi robil_lihi.launch

Run Q-learning training

rosrun robil_lihi train_Q_learning.py

Run DQN training

rosrun robil_lihi train_DQN.py

observation space and action space are discrete. The actions are engine commands: 1. Bobcat velocity (X axis direction) 2. Arm lifting velocity. 3. Bucket upward rotation velocity. 4. Arm lifting and bobcat velocity combined.

Run PPO training

To get started, I recommend cloning Chapter 19 of the code repository from Deep Reinforcement Learning Hands-On Second Edition book. observation space and action space are continuous.

rosrun robil_lihi train_ppo.py -n ppo -e MovingBobcat-v0 --cuda

If you dont have a GPU you should omit " --cuda"

In orfer to check you results:

python /home/FULL_ADDRESS/play_best.py -e MovingBobcat-v0 -m /home/robil/catkin_ws/saves/DAT_BEST_FILE.dat

where FULL_ADDRESS and DAT_BEST_FILE should be replaced.