From 97a374f30033c04b05016bc87f2938c8ebd9efed Mon Sep 17 00:00:00 2001 From: emilysteiner71 Date: Wed, 30 Aug 2023 16:37:14 +1200 Subject: [PATCH] Fixed ftg --- src/controllers/controllers/controller.py | 5 +++-- src/controllers/controllers/ftg_policy.py | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/controllers/controllers/controller.py b/src/controllers/controllers/controller.py index 889da60c..ea9bdad8 100644 --- 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 index a558e2be..f7fdac6b 100644 --- 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]