tried eval srv still not working
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@ -25,8 +25,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
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"srv/BO.srv"
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"srv/ActiveBO.srv"
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"srv/ActiveRL.srv"
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"srv/ActiveRLEval.srv"
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"msg/ImageFeedback.msg"
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"msg/ActiveRLEval.msg"
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)
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if(BUILD_TESTING)
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@ -13,10 +13,12 @@ import numpy as np
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class ActiveBOService(Node):
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def __init__(self):
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super().__init__('active_bo_service')
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self.srv = self.create_service(ActiveBO, 'active_bo_srv', self.active_bo_callback)
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self.active_bo_srv = self.create_service(ActiveBO, 'active_bo_srv', self.active_bo_callback)
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self.active_rl_client = self.create_client(ActiveRL, 'active_rl_srv')
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self.rl_trigger_ = False
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self.env = Continuous_MountainCarEnv()
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self.distance_penalty = 0
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@ -54,9 +56,18 @@ class ActiveBOService(Node):
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arl_request.old_policy = old_policy.tolist()
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arl_request.old_weights = old_weights.tolist()
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arl_response = self.active_rl_client.call(arl_request)
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future_rl = self.active_rl_client.call_async(arl_request)
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while rclpy.ok():
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rclpy.spin_once(self)
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if future_rl.done():
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try:
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arl_response = future_rl.result()
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self.get_logger().info('active RL Response: %s' % arl_response)
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BO.add_new_observation(arl_response.reward, arl_response.new_weights)
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except Exception as e:
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self.get_logger().error('active RL Service failed %r' % (e,))
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break
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# BO part
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else:
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@ -1,6 +1,6 @@
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from active_bo_msgs.srv import ActiveRL
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from active_bo_msgs.msg import ImageFeedback
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from active_bo_msgs.msg import ActiveRLEval
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from active_bo_msgs.srv import ActiveRLEval
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import rclpy
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from rclpy.node import Node
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@ -17,37 +17,41 @@ class ActiveRLService(Node):
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def __init__(self):
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super().__init__('active_rl_service')
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srv_callback_group = ReentrantCallbackGroup()
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sub_callback_group = ReentrantCallbackGroup()
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eval_callback_group = ReentrantCallbackGroup()
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self.srv = self.create_service(ActiveRL,
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self.rl_srv = self.create_service(ActiveRL,
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'active_rl_srv',
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self.active_rl_callback,
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callback_group=srv_callback_group)
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self.publisher = self.create_publisher(ImageFeedback, 'rl_feedback', 1)
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self.eval_pub = self.create_publisher(ActiveRLEval, 'active_rl_eval_request', 1)
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self.eval_sub = self.create_subscription(ActiveRLEval,
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'active_rl_eval_response',
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self.active_rl_eval_callback,
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10,
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callback_group=sub_callback_group)
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self.eval_response_received = False
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self.eval_response = None
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self.eval_response_received_first = False
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self.active_rl_eval_client = self.create_client(ActiveRLEval,
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'active_rl_eval_srv',
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callback_group=eval_callback_group)
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# self.eval_pub = self.create_publisher(ActiveRLEval, 'active_rl_eval_request', 1)
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# self.eval_sub = self.create_subscription(ActiveRLEval,
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# 'active_rl_eval_response',
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# self.active_rl_eval_callback,
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# 10,
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# callback_group=sub_callback_group)
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# self.eval_response_received = False
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# self.eval_response = None
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# self.eval_response_received_first = False
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self.env = Continuous_MountainCarEnv(render_mode='rgb_array')
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self.distance_penalty = 0
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def active_rl_eval_callback(self, response):
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# if not self.eval_response_received_first:
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# self.eval_response_received_first = True
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# self.get_logger().info('/active_rl_eval_response connected!')
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# else:
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# def active_rl_eval_callback(self, response):
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# # if not self.eval_response_received_first:
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# # self.eval_response_received_first = True
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# # self.get_logger().info('/active_rl_eval_response connected!')
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# # else:
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# # self.eval_response = response
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# # self.eval_response_received = True
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# self.eval_response = response
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# self.eval_response_received = True
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self.eval_response = response
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self.eval_response_received = True
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def active_rl_callback(self, request, response):
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@ -58,9 +62,9 @@ class ActiveRLService(Node):
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old_policy = request.old_policy
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old_weights = request.old_weights
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eval_request = ActiveRLEval()
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eval_request.policy = old_policy
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eval_request.weights = old_weights
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eval_request = ActiveRLEval.Request()
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eval_request.old_policy = old_policy
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eval_request.old_weights = old_weights
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self.env.reset()
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@ -91,16 +95,17 @@ class ActiveRLService(Node):
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break
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self.get_logger().info('Enter new solution!')
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self.eval_pub.publish(eval_request)
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# self.eval_pub.publish(eval_request)
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#
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# while not self.eval_response_received:
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# rclpy.spin_once(self)
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while not self.eval_response_received:
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rclpy.spin_once(self)
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eval_response = self.active_rl_eval_client.call(eval_request)
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self.get_logger().info('Active RL Eval Srv started!')
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new_policy = eval_response.new_policy
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new_weights = eval_response.new_weights
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self.get_logger().info('Topic responded!')
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new_policy = self.eval_response.policy
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new_weights = self.eval_response.weights
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self.eval_response_received = False
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self.eval_response = None
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reward = 0
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step_count = 0
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