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publisher doesnt work2

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This commit is contained in:
Niko Feith 2023-03-22 13:15:35 +01:00
parent f25d1ff559
commit 0de3eaa360
1 changed files with 9 additions and 3 deletions
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12
src/active_bo_ros/active_bo_ros/active_rl_service.py
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@ -10,6 +10,7 @@ from rclpy.callback_groups import ReentrantCallbackGroup
from active_bo_ros.ReinforcementLearning.ContinuousMountainCar import Continuous_MountainCarEnv from active_bo_ros.ReinforcementLearning.ContinuousMountainCar import Continuous_MountainCarEnv
import numpy as np import numpy as np
import time
class ActiveRLService(Node): class ActiveRLService(Node):
@ -33,13 +34,18 @@ class ActiveRLService(Node):
callback_group=sub_callback_group) callback_group=sub_callback_group)
self.eval_response_received = False self.eval_response_received = False
self.eval_response = None self.eval_response = None
self.eval_response_received_first = False
self.env = Continuous_MountainCarEnv(render_mode='rgb_array') self.env = Continuous_MountainCarEnv(render_mode='rgb_array')
self.distance_penalty = 0 self.distance_penalty = 0
def active_rl_eval_callback(self, response): def active_rl_eval_callback(self, response):
self.eval_response = response if not self.eval_response_received_first:
self.eval_response_received = True self.eval_response_received_first = True
self.get_logger().info('/active_rl_eval_response connected!')
else:
self.eval_response = response
self.eval_response_received = True
def active_rl_callback(self, request, response): def active_rl_callback(self, request, response):
@ -86,7 +92,7 @@ class ActiveRLService(Node):
self.eval_pub.publish(eval_request) self.eval_pub.publish(eval_request)
while not self.eval_response_received: while not self.eval_response_received:
rclpy.spin_once(self) time.sleep(0.1)
self.get_logger().info('Topic responded!') self.get_logger().info('Topic responded!')
new_policy = self.eval_response.policy new_policy = self.eval_response.policy