#!/usr/bin/env python
import argparse
from drivebot.msg import TrainingExample
import json
import rospy
import sys
import time
import util as u
parser = argparse.ArgumentParser()
parser.add_argument('--training-eg-topic', default="/drivebot/training_egs",
help="ros topic to publish TrainingExamples to")
parser.add_argument('--rate', type=float, default=0.0,
help="rate (hz) to publish. 0 => fast as possible")
opts = parser.parse_args()
training = rospy.Publisher(opts.training_eg_topic, TrainingExample, queue_size=200)
rospy.init_node('publish_events_to_topic')
rate = None if opts.rate <= 0 else rospy.Rate(opts.rate)
for line in sys.stdin:
if rospy.is_shutdown():
break
event = json.loads(line)
eg = u.training_eg_msg(event['state_1'], event['action'], event['reward'], event['state_2'])
training.publish(eg)
if rate is not None:
rate.sleep()
import util as u
parser = argparse.ArgumentParser()
parser.add_argument('--training-eg-topic',
default="/drivebot/training_egs",
help="ros topic to publish TrainingExamples to")
parser.add_argument('--rate',
type=float,
default=0.0,
help="rate (hz) to publish. 0 => fast as possible")
opts = parser.parse_args()
training = rospy.Publisher(opts.training_eg_topic,
TrainingExample,
queue_size=200)
rospy.init_node('publish_events_to_topic')
rate = None if opts.rate <= 0 else rospy.Rate(opts.rate)
for line in sys.stdin:
if rospy.is_shutdown():
break
event = json.loads(line)
if 'action' in event:
print > sys.stderr, "DEPRECATED event; expected 'discrete_action', not 'action'"
event['discrete_action'] = event['action']
eg = u.training_eg_msg(event['state_1'], event['discrete_action'],
event['reward'], event['state_2'])
training.publish(eg)
if rate is not None:
rate.sleep()
# flush a single event to episode and train with it
if last_state is not None:
event = OrderedDict()
event['bot_id'] = opts.robot_id
event['epi_id'] = episode_id
event['eve_id'] = event_id
event['ranges_1'] = last_ranges
event['state_1'] = last_state
event['action'] = last_action
event['reward'] = reward
event['ranges_2'] = current_ranges
event['state_2'] = current_state
print "EVENT\tepi_id=%s eve_id=%s no_rewards_run_len=%s" % (episode_id, \
event_id, no_rewards_run_len)
episode.append(event)
training.publish(u.training_eg_msg(last_state, last_action, reward,
current_state))
event_id += 1
# flush last_XYZ for next event
last_ranges = current_ranges
last_state = current_state
last_action = action
# let sim run...
rate.sleep()
# write episode to log
print >>episode_log, json.dumps(episode)
episode_log.flush()
steering.publish(Twist()) # shutdown movement of bot
# flush a single event to episode and train with it
if last_state is not None:
event = OrderedDict()
event['bot_id'] = opts.robot_id
event['epi_id'] = episode_id
event['eve_id'] = event_id
event['time'] = int(time.time())
event['ranges_1'] = last_ranges
event['state_1'] = last_state
event['discrete_action'] = last_action
event['reward'] = reward
event['ranges_2'] = current_ranges
event['state_2'] = current_state
print "EVENT\te=%s\tno_rewards_run_len=%s" % (event, no_rewards_run_len)
episode.append(event)
training.publish(u.training_eg_msg(last_state, last_action, reward,
current_state))
event_id += 1
# flush last_XYZ for next event
last_ranges = current_ranges
last_state = current_state
last_action = action
# let sim run...
rate.sleep()
# write episode to log. use json just to piss everyone off.
print >>episode_log, json.dumps(episode)
episode_log.flush()
steering.publish(Twist()) # shutdown movement of bot
