Merge pull request #161 from UoA-CARES/Random_launch

Random can launch

src/controllers/config/sim.yaml

@@ -1,6 +1,6 @@
 sim:
   ros__parameters:
-    algorithm: 'ftg'
+    algorithm: 'random'
     observation_mode: 'lidar_only'
     environment: 'CarTrack'
     track: 'multi_track'

src/controllers/controllers/random.py

@@ -20,10 +20,11 @@ def main():
     CAR_NAME = params[0]
 
     controller = Controller('random_', CAR_NAME, 0.25)
+    policy_id = 'random'
 
     while True:
         action = np.asarray([random.uniform(0, 3), random.uniform(-3.14, 3.14)])    
-        controller.step(action)
+        controller.step(action, policy_id)
 
 
 if __name__ == '__main__':

src/controllers/controllers/sim.py

@@ -5,7 +5,7 @@
 import rclpy
 import torch
 
-from cares_reinforcement_learning.util.network_factory import NetworkFactory
+#from cares_reinforcement_learning.util.network_factory import NetworkFactory
 import cares_reinforcement_learning.util.configurations as cfg
 
 from reinforcement_learning.parse_args import parse_args

src/controllers/launch/sim.launch.py

@@ -18,6 +18,7 @@
 alg_launch = {
     'ftg': 'ftg',
     'rl': 'rl',
+    'random': 'random',
 }
 
 def generate_launch_description():