def run_trial_tf(self, policy, time_to_run=5):
""" Run an async controller from a policy. The async controller receives observations from ROS subscribers
and then uses them to publish actions."""
should_stop = False
consecutive_failures = 0
start_time = time.time()
while should_stop is False:
if self.observations_stale is False:
consecutive_failures = 0
last_obs = tf_obs_msg_to_numpy(self._tf_subscriber_msg)
action_msg = tf_policy_to_action_msg(self.dU,
self._get_new_action(policy, last_obs),
self.current_action_id)
self._tf_publish(action_msg)
self.observations_stale = True
self.current_action_id += 1
else:
rospy.sleep(0.01)
consecutive_failures += 1
if time.time() - start_time > time_to_run and consecutive_failures > 5:
# we only stop when we have run for the trial time and are no longer receiving obs.
should_stop = True
rospy.sleep(0.25) # wait for finished trial to come in.
result = self._trial_service._subscriber_msg
return result # the trial has completed. Here is its message.
def run_trial_tf(self, policy, time_to_run=5):
""" Run an async controller from a policy. The async controller receives observations from ROS subscribers
and then uses them to publish actions."""
should_stop = False
consecutive_failures = 0
start_time = time.time()
while should_stop is False:
if self.observations_stale is False:
consecutive_failures = 0
last_obs = tf_obs_msg_to_numpy(self._tf_subscriber_msg)
action_msg = tf_policy_to_action_msg(
self.dU, self._get_new_action(policy, last_obs),
self.current_action_id)
self._tf_publish(action_msg)
self.observations_stale = True
self.current_action_id += 1
else:
rospy.sleep(0.01)
consecutive_failures += 1
if time.time(
) - start_time > time_to_run and consecutive_failures > 5:
# we only stop when we have run for the trial time and are no longer receiving obs.
should_stop = True
rospy.sleep(0.25) # wait for finished trial to come in.
result = self._trial_service._subscriber_msg
return result # the trial has completed. Here is its message.
def _get_obs(self, msg, condition):
return tf_obs_msg_to_numpy(msg)
