Update from refactoring

README.md

@@ -63,9 +63,6 @@ train:
     reward_range: 1.0
     collision_range: 0.2
     observation_mode: 'no_position'
-    # actor_path & critic_path must exist, 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
     # tau: 0.005
     # g: 5

src/controllers/controllers/controller.py

@@ -1,13 +1,14 @@
-import rclpy
 import math
-from geometry_msgs.msg import Twist
-from message_filters import Subscriber, ApproximateTimeSynchronizer
+import rclpy
 from rclpy import Future
 from rclpy.node import Node
+
+from geometry_msgs.msg import Twist
+from message_filters import Subscriber, ApproximateTimeSynchronizer
 from sensor_msgs.msg import LaserScan
 from nav_msgs.msg import Odometry
 
-from environments.util import process_lidar, process_odom, reduce_lidar
+from environments.util import process_odom, reduce_lidar
 
 class Controller(Node):
     def __init__(self, node_name, car_name, step_length):

src/controllers/controllers/ftg_controller.py

@@ -1,9 +1,9 @@
-from .controller import Controller
+from rclpy import Future
 from std_msgs.msg import Empty
 from environments.track_reset import track_info
 from environments.termination import reached_goal
 from environments.util import reduce_lidar, process_odom
-from rclpy import Future
+from .controller import Controller
 
 class FTGController(Controller):
 

src/controllers/controllers/ftg_policy.py

@@ -1,6 +1,6 @@
-from .controller import Controller
 import rclpy
 import numpy as np
+from .controller import Controller
 
 def main():
     rclpy.init()

src/controllers/controllers/random.py

@@ -1,7 +1,7 @@
-from .controller import Controller
 import rclpy
 import numpy as np
 import random
+from .controller import Controller
 
 def main():
     rclpy.init()

src/controllers/controllers/rl_controller.py

@@ -1,7 +1,7 @@
-from .controller import Controller
+from rclpy import Future
 from std_msgs.msg import Empty
+from .controller import Controller
 from environments.util import reduce_lidar, process_odom
-from rclpy import Future
 
 class RLController(Controller):
 

src/controllers/controllers/rl_policy.py

@@ -1,7 +1,7 @@
-from .rl_controller import RLController
 import rclpy
 from cares_reinforcement_learning.util.NetworkFactory import NetworkFactory
 from cares_reinforcement_learning.util.helpers import denormalize
+from .rl_controller import RLController
 
 def main():
     rclpy.init()

src/environment_interfaces/srv/CarBeatReset.srv

@@ -1,8 +1,10 @@
 float64 gx      # goal x
 float64 gy      # goal y
+string car_one
 float64 cx_one      # car_one x
 float64 cy_one      # car_one y
 float64 cyaw_one    # car_one yaw
+string car_two
 float64 cx_two      # car_two x
 float64 cy_two      # car_two y
 float64 cyaw_two    # car_two yaw

src/environment_interfaces/srv/Reset.srv

@@ -3,6 +3,7 @@ float64 gy      # goal y
 float64 cx      # car x
 float64 cy      # car y
 float64 cyaw    # car yaw
+string car_name
 string flag     # flag
 ---
 bool success