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add simplectrlloop example; improve docs; bump version
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| @@ -0,0 +1,64 @@ | ||
| """This demo does (almost) exactly the same thing as the previous example (01), but | ||
| uses the SimpleManagedCtrlLoop that is provided by PyRCF. | ||
| This is a dummy control loop where each component simply prints something to the screen. | ||
| """ | ||
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| from pyrcf.components.robot_interfaces import DummyRobot | ||
| from pyrcf.components.agents import PlannerControllerAgent | ||
| from pyrcf.components.state_estimators import DummyStateEstimator | ||
| from pyrcf.components.controller_manager import SimpleControllerManager | ||
| from pyrcf.components.global_planners.ui_reference_generators import DummyUI | ||
| from pyrcf.components.controllers import DummyController | ||
| from pyrcf.components.local_planners import DummyLocalPlanner | ||
| from pyrcf.control_loop import SimpleManagedCtrlLoop | ||
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| if __name__ == "__main__": | ||
| # Load the same components as in the previous example. | ||
| # All these components simply prints stuff out, but they have implemented the required | ||
| # methods as required by their respective base classes, and hence can be used in the | ||
| # control loop. | ||
| robot = DummyRobot() | ||
| state_estimator = DummyStateEstimator() | ||
| controller = DummyController() | ||
| local_planner = DummyLocalPlanner() | ||
| global_planner = DummyUI() | ||
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| # create a controller manager to manage the controllers in the control loop. This is to | ||
| # deal with cases where there are multiple controllers in the control loop. In our case | ||
| # we don't necessarily need it, but this is required for creating the ControlLoop object. | ||
| controller_manager = SimpleControllerManager() | ||
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| # the simple controller manager manages different 'agents'. In our case, our 'agent' is | ||
| # just the local [planner and controller], so we use the PlannerControllerAgent implementation | ||
| # of AgentBase class. This could be any control policy that can take a global plan message | ||
| # and directly produce a control output to the robot without needing an intermediate local | ||
| # planner (e.g. a machine-learned control policy (in which case you could look at the | ||
| # MLAgentBase abstract class which is also derived from AgentBase)). | ||
| agent = PlannerControllerAgent(local_planner=local_planner, controller=controller) | ||
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| # add this agent to the controller manager to handle its run in the control loop. | ||
| controller_manager.add_agent(agent=agent) | ||
| # NOTE: This could have been done during initialisation of the `SimpleControllerManager` object | ||
| # by passing the list of agents to be used as an argument to the constructor. See doc in class | ||
| # `SimpleControllerManager`. | ||
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| # create a control loop with these components. | ||
| # The SimpleManagedCtrlLoop allows loading the different components and runs them at the | ||
| # required rate. It also handles proper loading and shutting down of components, as well | ||
| # as can provide some debugging and data logging capabilities. | ||
| control_loop = SimpleManagedCtrlLoop( | ||
| robot_interface=robot, | ||
| state_estimator=state_estimator, | ||
| controller_manager=controller_manager, | ||
| global_planner=global_planner, | ||
| ) | ||
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| ctrl_loop_rate: float = 2 # 2hz control loop as an example | ||
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| # This will load the components in order (see log messages in terminal) and run them in sequence. | ||
| control_loop.run(loop_rate=ctrl_loop_rate) | ||
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| # Sending a CtrlLoopExit signal (e.g. using KeyboardInterrupt) will close the control loop | ||
| # cleanly (i.e. by shutting down each component cleanly. See log messages showing the shutdown | ||
| # sequence.) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| [project] | ||
| name = "pyrcf" | ||
| version = "0.0.3" | ||
| version = "0.0.4" | ||
| authors = [{ name = "Saif Sidhik", email = "[email protected]" }] | ||
| description = "A Python Robot Control Framework for quickly prototyping control algorithms for different robot embodiments." | ||
| readme = "README.md" | ||
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