Marl

.rosinstall

@@ -18,6 +18,11 @@
     uri: https://github.com/ignc-research/stable-baselines3
     version: master
 
+- git:
+    local-name: ../forks/marl/stable-baselines3
+    uri: https://github.com/ignc-research/stable-baselines3
+    version: marl
+
 - git:
     local-name: ../forks/navigation/local_planner/teb
     uri: https://github.com/rst-tu-dortmund/teb_local_planner

HPP/record.py

@@ -0,0 +1,16 @@
+from arena_marl.marl_agent.utils.supersuit_utils import MarkovVectorEnv_patched
+
+
+def store_data():
+    """
+    Store data in a csv file
+    """
+
+
+class Env_Recorder(MarkovVectorEnv_patched):
+    """
+    A wrapper for the environment that records the state and action
+    """
+
+    def __init__(self):
+        super(Env_Recorder, self).step(self, actions)

arena_bringup/launch/marl_start_flatland.launch

@@ -0,0 +1,153 @@
+<launch>
+  <param name="use_sim_time" value="true"/>
+
+  <arg name="train_mode" default="false"/>
+  <arg name="model" default="jackal"      doc="model type [burger, jackal, ridgeback, agvota, rto, rto_real]"/>
+  <!--husy does not yet work-->
+  <param name="train_mode" value="$(arg train_mode)" />
+  <arg name="use_recorder" default="false"/>
+  <arg name="record_only_planner" default="true"/>
+  <arg name="requestID"       default="user1"/>
+
+  <arg name="local_planner" default="teb"   doc="local-planer type [teb, dwa, mpc, rlca, cadrl, arena, rosnav]"/>
+  <!-- Rosnav agent name -->
+  <arg name="agent_name" default="$(arg model)"     doc = "DRL agent name to be deployed" unless="$(eval arg('local_planner') == 'rosnav')"/>
+  <arg name="waypoint_generator" default="classic"/>
+  <arg name="rviz_file" default="nav"/>
+  <arg name="disable_scenario" default="false"/>
+  <arg name="scenario_file" default="eval/obstacle_map1_obs10.json" doc="[scenario2.json, empty_map.json, test_scenario.json (pesim)]"/>
+  <arg name="reset" default="true"/>
+  <arg name="enable_pedsim" default="true"/>
+  <arg name="task_mode" default="scenario" doc="[random, manual, staged, scenario]"/>
+
+  <!-- To make the training more efficient make sure this step_size*laser_update_rate == 1  -->
+  <arg name="step_size" default="0.01"/>
+  <arg name="update_rate" default="500"/>
+  <arg name="show_viz" default="true"/>
+  <arg name="viz_pub_rate" default="30" />
+  <arg name="use_rviz" default="true"/>
+
+  <param name="local_planner" value="$(arg local_planner)"/>
+  <param name="model" value="$(arg model)" />
+  <param name="agent_name" value="$(arg agent_name)" />
+  <param name="update_rate" value="$(arg update_rate)" />
+  <param name="step_size" value="$(arg step_size)" />
+  <param name="show_viz" value="$(arg show_viz)"/>
+  <param name="viz_pub_rate" value="$(arg viz_pub_rate)"/>
+  <param name="use_rviz" value="$(arg use_rviz)"/>
+  <param name="single_env" value="true"/>
+
+  <!-- the folder name under the path simulator_setup/maps  -->
+  <arg name="map_file" default="map1" doc="[map1, floor, indoor, indoor_map1, map_small, map_empty]"/>
+  <!-- <arg name="map_folder_name" default="map_empty" /> -->
+  <arg name="map_path" default="$(find simulator_setup)/maps/$(arg map_file)/map.yaml" />
+  <param name="world_path" value="$(find simulator_setup)/maps/$(arg map_file)/map.world.yaml" />
+  <param name="map_layer_path" value="$(find simulator_setup)/maps/$(arg map_file)/map_layer.yaml" />
+  <param name="map_file" value="$(arg map_file)" />
+
+  <!-- the velocity of randomly genelized obstacles  -->
+  <arg name="obs_vel" default="0.3" />
+  <param name="obs_vel" value="$(arg obs_vel)" />
+
+
+  <!--  PARAMS DON'T CHANGE THEM  -->
+  <param name="robot_action_rate" value="5"/>
+  <param name="laser_update_rate" value="10"/>
+
+
+  <!-- DRL action frequency -->
+  <arg name="action_frequency" default="10"/>
+  <param name="action_frequency" value="$(arg action_frequency)"/>
+
+  <!-- Map parameters -->
+  <arg name="global_frame_id" value="map"/>
+  <arg name="odom_frame_id" value="odom"/>
+  <arg name="base_frame_id" value="base_footprint"/>
+  <arg name="odom_ground_truth" default="/odometry/ground_truth"/>
+
+  <!-- Robot specific args -->
+  <arg name='radius' default='0.113' if="$(eval arg('model') == 'burger')"/>
+  <arg name='speed' default='0.22' if="$(eval arg('model') == 'burger')"/>
+  <arg name='radius' default='0.267' if="$(eval arg('model') == 'jackal')"/>
+  <arg name='speed' default='2.0' if="$(eval arg('model') == 'jackal')"/>
+  <arg name='radius' default='0.625' if="$(eval arg('model') == 'ridgeback')"/>
+  <arg name='speed' default='1.1' if="$(eval arg('model') == 'ridgeback')"/>
+  <arg name='radius' default='0.629' if="$(eval arg('model') == 'agvota')"/>
+  <arg name='speed' default='0.5' if="$(eval arg('model') == 'agvota')"/>
+  <arg name='radius' default='0.225' if="$(eval arg('model') == 'rto')"/>
+  <arg name='speed' default='2.78' if="$(eval arg('model') == 'rto')"/>
+  <arg name='radius' default='0.225' if="$(eval arg('model') == 'rto_real')"/>
+  <arg name='speed' default='2.78' if="$(eval arg('model') == 'rto_real')"/>
+  <arg name='radius' default='0.27' if="$(eval arg('model') == 'tiago')"/>
+  <arg name='speed' default='1.5' if="$(eval arg('model') == 'tiago')"/>
+  <arg name='radius' default='0.36' if="$(eval arg('model') == 'cob4')"/>
+  <arg name='speed' default='1.1' if="$(eval arg('model') == 'cob4')"/>
+  <arg name='radius' default='0.347' if="$(eval arg('model') == 'youbot')"/>
+  <arg name='speed' default='0.8' if="$(eval arg('model') == 'youbot')"/>  
+  <param name="radius" value="$(arg radius)"/>
+  <param name="speed" value="$(arg speed)"/>
+
+  <!-- data recorder -->
+  <param name="local_planner"  value="$(arg local_planner)"/>
+  <param name="waypoint_generator"  value="$(arg waypoint_generator)"/>
+  <param name="record_only_planner"  value="$(arg record_only_planner)"/>
+  <param name="scenario_file"  value="$(arg scenario_file)"/>
+  <param name="requestID"  value="$(arg requestID)"/>
+  <group if="$(eval arg('use_recorder') == true)">
+    <node pkg="arena_evaluation" name="data_recorder_node" type="data_recorder_node.py" />
+  </group>
+
+  <!-- use simulator-->
+  <include file="$(find arena_bringup)/launch/sublaunch_testing/flatland_simulator.launch">
+    <arg name="show_viz" value="$(arg show_viz)"/>
+    <arg name="use_rviz" value="$(arg use_rviz)"/>
+    <arg name="rviz_file" value="$(arg rviz_file)_$(arg model)"/>
+    <arg name="model" value="$(arg model)"/>
+  </include>
+
+  <!-- map server-->
+  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_path)">
+    <param name="frame_id" value="$(arg global_frame_id)"/>
+
+  </node>
+
+  <!-- use fake localization-->
+  <include file="$(find arena_bringup)/launch/sublaunch_testing/fake_localization.launch">
+
+    <arg name="global_frame_id" value="$(arg global_frame_id)"/>
+    <arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
+  </include>
+
+  <!-- start task_generator node -->
+  <arg name="timeout" default="3.0"/>
+  <include file="$(find arena_bringup)/launch/sublaunch_testing/task_generator.launch" unless="$(eval arg('disable_scenario') or arg('train_mode'))">
+    <arg name="scenarios_json_path" value="$(find simulator_setup)/scenarios/$(arg scenario_file)"/>
+    <arg name="auto_reset" value="$(arg reset)"/>
+    <arg name="timeout" value="$(arg timeout)"/>
+    <arg name="task_mode" value="$(arg task_mode)"/>
+  </include>
+
+  <!-- local planner -->
+  <include file="$(find arena_bringup)/launch/sublaunch_testing/move_base/move_base_$(arg local_planner).launch">
+    <arg name="model" value="$(arg model)"/>
+    <arg name="agent_name" value="$(arg agent_name)" if="$(eval arg('local_planner') == 'rosnav')" />
+    <arg name="train_mode" value="$(arg train_mode)" if="$(eval arg('local_planner') == 'rosnav')" />
+    <!-- <arg name="speed" value="$(arg speed)"/> -->
+  </include>
+
+  <!-- Pedsim -->
+  <arg name="simulation_factor" default="1"/>
+  <arg name="pedsim_update_rate" default="30.0"/>
+  <arg name="scene_file" default="$(find simulator_setup)/scenarios/empty.xml"/>
+
+  <node name="pedsim_simulator" pkg="pedsim_simulator" type="pedsim_simulator" output="screen" if="$(arg enable_pedsim)">
+    <param name="simulation_factor" value="$(arg simulation_factor)" type="double"/>
+    <param name="pedsim_update_rate" value="$(arg pedsim_update_rate)" type="double"/>
+    <param name="scene_file" value="$(arg scene_file)" type="string"/>
+  </node>
+
+  <!-- launch map generator if training with random map-->
+  <group if="$(eval arg('map_file') == 'random_map')">
+    <node pkg="simulator_setup" name="map_generator_node" type="map_generator_node.py" />
+  </group>
+</launch>