Merge pull request #109 from UoA-CARES/ftg-fix

Fixed ftg
UoA-CARES · Sep 3, 2023 · 8979870 · 8979870
2 parents 3f532cd + 97a374f
commit 8979870
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/src/controllers/controllers/controller.py b/src/controllers/controllers/controller.py
@@ -6,7 +6,7 @@
 from sensor_msgs.msg import LaserScan
 from nav_msgs.msg import Odometry
 
-from environments.util import process_lidar, process_odom
+from environments.util import process_lidar, process_odom, reduce_lidar
 
 class Controller(Node):
     def __init__(self, node_name, car_name, step_length):
@@ -68,7 +68,8 @@ def message_filter_callback(self, odom: Odometry, lidar: LaserScan):
     def get_observation(self):
         odom, lidar = self.get_data()
         odom = process_odom(odom)
-        lidar, _ = process_lidar(lidar)
+        #lidar, _ = process_lidar(lidar)
+        lidar = reduce_lidar(lidar)
 
         return odom + lidar
 

diff --git a/src/controllers/controllers/ftg_policy.py b/src/controllers/controllers/ftg_policy.py
@@ -86,7 +86,7 @@ def select_action(self, state):
 
         obstacles_angles = []
         obstacles_ranges = []
-        obstacle_max_val = 2
+        obstacle_max_val = 4
         for i in range(10):
             if (state[8+i] > min_lidar_range) & (state[8+i]<obstacle_max_val):
                 obstacles_ranges.append(state[8+i])