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Fix up small stuff #111

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merged 4 commits into from
Sep 5, 2023
Merged

Fix up small stuff #111

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c0db153
Update helperScripts
retinfai Sep 5, 2023
a25e6a3
Update train.yaml
retinfai Sep 5, 2023
6788a09
CarBeat change to lidar_only default
retinfai Sep 5, 2023
7f6b8c7
Update train.yaml
Bac0nEater Sep 5, 2023
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9 changes: 7 additions & 2 deletions helperScripts/1manual.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,13 @@ trap cleanup SIGINT SIGTERM

cd ~/autonomous_f1tenth/

export GZ_PARTITION=50
export ROS_DOMAIN_ID=50
if [ -n "$1" ]; then
export GZ_PARTITION=$1
export ROS_DOMAIN_ID=$1
else
export GZ_PARTITION=50
export ROS_DOMAIN_ID=50
fi

. install/setup.bash

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13 changes: 10 additions & 3 deletions helperScripts/2train.sh
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Expand Up @@ -10,14 +10,21 @@ trap cleanup SIGINT SIGTERM

cd ~/autonomous_f1tenth/

export GZ_PARTITION=100
export ROS_DOMAIN_ID=100
if [ -n "$1" ]; then
export GZ_PARTITION=$1
export ROS_DOMAIN_ID=$1
else
export GZ_PARTITION=100
export ROS_DOMAIN_ID=100
fi

. install/setup.bash

colcon build
ros2 launch reinforcement_learning train.launch.py &

gz sim -g &
if [ "$1" == "y" ] || [ "$1" == "Y" ]; then
gz sim -g &
fi

wait
9 changes: 7 additions & 2 deletions helperScripts/3test.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,13 @@ trap cleanup SIGINT SIGTERM

cd ~/autonomous_f1tenth/

export GZ_PARTITION=150
export ROS_DOMAIN_ID=150
if [ -n "$1" ]; then
export GZ_PARTITION=$1
export ROS_DOMAIN_ID=$1
else
export GZ_PARTITION=150
export ROS_DOMAIN_ID=150
fi

. install/setup.bash

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2 changes: 1 addition & 1 deletion src/environments/environments/CarBeatEnvironment.py
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Expand Up @@ -27,7 +27,7 @@ def __init__(self,
collision_range=0.2,
step_length=0.5,
track='track_1',
observation_mode='full',
observation_mode='lidar_only',
max_goals=500):
super().__init__('car_beat_environment')

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2 changes: 1 addition & 1 deletion src/reinforcement_learning/config/train.yaml
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Expand Up @@ -10,7 +10,7 @@ train:
observation_mode: 'lidar_only'
evaluate_every_n_steps: 2000
evaluate_for_m_episodes: 3
# actor_path & critic_path must exist, it can't be commented
# actor_path & critic_path must exist for retrain.sh, it can't be commented
# actor_path: 'rl_logs/23_08_02_17:59:13/models/actor_checkpoint.pht'
# critic_path: 'rl_logs/23_08_02_17:59:13/models/critic_checkpoint.pht'
gamma: 0.95
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