Merge branch 'ros-2-sim-magic' into ros-2-complete

rktl_autonomy/launch/cartpole/cartpole_train.launch.py

@@ -0,0 +1,44 @@
+import os
+import sys
+
+import launch
+import launch_ros.actions
+
+
+def generate_launch_description():
+    ld = launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            name='agent_name',
+            default_value='rocket_league_agent'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='render',
+            default_value='false'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='rate',
+            default_value='30.0'
+        ),
+        launch_ros.actions.Node(
+            package='rktl_autonomy',
+            executable='cartpole_env',
+            name='cartpole_env',
+            output='screen',
+            parameters=[
+                {
+                    '/use_sim_time': 'true'
+                },
+                {
+                    'frequency': 1/launch.substitutions.LaunchConfiguration('rate') #'$(eval 1/rate)'
+                },
+                {
+                    'render': launch.substitutions.LaunchConfiguration('render')
+                }
+            ]
+        )
+    ])
+    return ld
+
+
+if __name__ == '__main__':
+    generate_launch_description()

rktl_autonomy/launch/rocket_league/rocket_league_agent.launch.py

@@ -0,0 +1,50 @@
+import os
+import sys
+
+import launch
+import launch_ros.actions
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ld = launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            name='plot_log',
+            default_value='false'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='weights_dir',
+            default_value='~/catkin_ws/data/rocket_league/'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='weights_name',
+            default_value='model'
+        ),
+        launch_ros.actions.Node(
+            package='rktl_autonomy',
+            executable='rocket_league_agent',
+            name='rocket_league_agent',
+            output='screen',
+            parameters=[
+                {
+                    'weights': launch.substitutions.LaunchConfiguration('weights_dir')+launch.substitutions.LaunchConfiguration('weights_name')#'$(eval weights_dir + weights_name)'
+                },
+                get_package_share_directory('rktl_autonomy') + '/config/rocket_league.yaml'
+            ]
+        ),
+        launch_ros.actions.Node(
+            condition=launch.conditions.LaunchConfigurationNotEquals('plot_log', 'false'),
+            package='rktl_autonomy',
+            executable='plotter',
+            name='plotter',
+            output='screen',
+            parameters=[
+                get_package_share_directory('rktl_autonomy') + '/config/rocket_league.yaml'
+            ]
+        )
+    ])
+    return ld
+
+
+if __name__ == '__main__':
+    generate_launch_description()

rktl_autonomy/launch/rocket_league/rocket_league_train.launch.py

@@ -0,0 +1,63 @@
+import os
+import sys
+
+import launch
+import launch_ros.actions
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ld = launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            name='plot_log',
+            default_value='true'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='agent_name',
+            default_value='rocket_league_agent'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='render',
+            default_value='false'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='sim_mode',
+            default_value='ideal'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='rate',
+            default_value='10.0'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='agent_type',
+            default_value='none'
+        ),
+        launch_ros.actions.Node(
+            condition=launch.conditions.LaunchConfigurationEquals('plot_log', 'true'),
+            package='rktl_autonomy',
+            executable='plotter',
+            name='plotter',
+            output='screen',
+            parameters=[
+                {
+                    '/use_sim_time': 'true'
+                },
+                get_package_share_directory('rktl_autonomy') + '/config/rocket_league.yaml'
+            ]
+        ),
+        launch.actions.IncludeLaunchDescription(
+            launch.launch_description_sources.PythonLaunchDescriptionSource(
+                os.path.join(get_package_share_directory('rktl_launch'), 'launch/rocket_league_sim.launch.py')
+            ),
+            launch_arguments={
+                'render': launch.substitutions.LaunchConfiguration('render'),
+                'sim_mode': launch.substitutions.LaunchConfiguration('sim_mode'),
+                'agent_type': launch.substitutions.LaunchConfiguration('agent_type')
+            }.items()
+        )
+    ])
+    return ld
+
+
+if __name__ == '__main__':
+    generate_launch_description()

rktl_autonomy/launch/snake/snake_eval.launch.py

@@ -0,0 +1,93 @@
+import os
+import sys
+
+import launch
+import launch_ros.actions
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ld = launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            name='plot_log',
+            default_value='false'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='render',
+            default_value='true'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='weights',
+            default_value='~/catkin_ws/data/snake/weights'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='rate',
+            default_value='10.0'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='snake_size',
+            default_value='7'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='arena_size',
+            default_value='10'
+        ),
+        launch_ros.actions.Node(
+            package='snakesim',
+            executable='snake_node',
+            name='snake_env',
+            output='screen',
+            parameters=[
+                {
+                    'render': launch.substitutions.LaunchConfiguration('render')
+                },
+                {
+                    'snake/initial_segments': launch.substitutions.LaunchConfiguration('snake_size')
+                },
+                {
+                    'snake/growth': '0'
+                },
+                {
+                    'arena/bounds': launch.substitutions.LaunchConfiguration('arena_size')
+                },
+                {
+                    'rate': launch.substitutions.LaunchConfiguration('rate')
+                }
+            ]
+        ),
+        launch_ros.actions.Node(
+            package='rktl_autonomy',
+            executable='snake_agent',
+            name='snake_agent',
+            output='screen',
+            on_exit=launch.actions.Shutdown(),
+            parameters=[
+                {
+                    'num_segments': launch.substitutions.LaunchConfiguration('snake_size')
+                },
+                {
+                    'field_size': launch.substitutions.LaunchConfiguration('arena_size')
+                },
+                {
+                    'weights': launch.substitutions.LaunchConfiguration('weights')
+                },
+                get_package_share_directory(
+                    'rktl_autonomy') + '/config/snake.yaml'
+            ]
+        ),
+        launch_ros.actions.Node(
+            package='rktl_autonomy',
+            executable='plotter',
+            name='plotter',
+            output='screen',
+            parameters=[
+                get_package_share_directory(
+                    'rktl_autonomy') + '/config/snake.yaml'
+            ]
+        )
+    ])
+    return ld
+
+
+if __name__ == '__main__':
+    generate_launch_description()

rktl_autonomy/launch/snake/snake_train.launch.py

@@ -0,0 +1,79 @@
+import os
+import sys
+
+import launch
+import launch_ros.actions
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ld = launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            name='plot_log',
+            default_value='false'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='agent_name',
+            default_value='snake_agent'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='render',
+            default_value='false'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='rate',
+            default_value='10.0'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='snake_size',
+            default_value='7'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='arena_size',
+            default_value='10'
+        ),
+        launch_ros.actions.Node(
+            package='snakesim',
+            executable='snake_node',
+            name='snake_env',
+            output='screen',
+            parameters=[
+                {
+                    '/use_sim_time': 'true'
+                },
+                {
+                    'render': launch.substitutions.LaunchConfiguration('render')
+                },
+                {
+                    'snake/initial_segments': launch.substitutions.LaunchConfiguration('snake_size')
+                },
+                {
+                    'snake/growth': '0'
+                },
+                {
+                    'arena/bounds': launch.substitutions.LaunchConfiguration('arena_size')
+                },
+                {
+                    'rate': launch.substitutions.LaunchConfiguration('rate')
+                }
+            ]
+        ),
+        launch_ros.actions.Node(
+            package='rktl_autonomy',
+            executable='plotter',
+            name='plotter',
+            output='screen',
+            parameters=[
+                {
+                    '/use_sim_time': 'true'
+                },
+                get_package_share_directory(
+                    'rktl_autonomy') + '/config/snake.yaml'
+            ]
+        )
+    ])
+    return ld
+
+
+if __name__ == '__main__':
+    generate_launch_description()

rktl_autonomy/package.xml

@@ -1,15 +1,16 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>rktl_autonomy</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>Deep reinforcement learning for ARC Rocket League project</description>
   <maintainer email="[email protected]">Autonomous Robotics Club of Purdue</maintainer>
   <license>BSD 3 Clause</license>
   <url type="website">http://www.purduearc.com</url>
-  <author email="[email protected]">James Baxter</author>
-  <author email="[email protected]">Meenakshi McNamara</author>
-  <author email="[email protected]">Haddy Alchaer</author>
-  <author email="[email protected]">Reuben Georgi</author>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
   <buildtool_depend>catkin</buildtool_depend>
   <test_depend>rosunit</test_depend>
@@ -20,4 +21,7 @@
   <exec_depend>snakesim</exec_depend>
   <exec_depend>rktl_msgs</exec_depend>
   <exec_depend>rktl_launch</exec_depend>
-</package>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>