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problems with loop time

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This commit is contained in:
Niko Feith 2023-06-12 11:39:28 +02:00
parent 26a64db6d6
commit e0451ab4e3
3 changed files with 30 additions and 26 deletions
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2
src/active_bo_ros/active_bo_ros/active_rl_topic.py
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@ -73,7 +73,7 @@ class ActiveRLService(Node):
self.display_run = False self.display_run = False
# Main loop timer object # Main loop timer object
self.mainloop_timer_period = 0.05 self.mainloop_timer_period = 0.1
self.mainloop = self.create_timer(self.mainloop_timer_period, self.mainloop = self.create_timer(self.mainloop_timer_period,
self.mainloop_callback, self.mainloop_callback,
callback_group=mainloop_callback_group) callback_group=mainloop_callback_group)

36
src/active_bo_ros/active_bo_ros/interactive_bo.py
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@ -74,6 +74,7 @@ class ActiveBOTopic(Node):
self.rl_final_step = None self.rl_final_step = None
self.rl_reward = 0.0 self.rl_reward = 0.0
self.user_asked = False self.user_asked = False
self.last_user_reward = 0.0
# State Publisher # State Publisher
self.state_pub = self.create_publisher(ActiveBOState, 'active_bo_state', 1) self.state_pub = self.create_publisher(ActiveBOState, 'active_bo_state', 1)
@ -111,6 +112,8 @@ class ActiveBOTopic(Node):
self.current_episode = 0 self.current_episode = 0
self.save_result = False self.save_result = False
self.seed_array = None self.seed_array = None
self.env = None
self.active_bo_pending = False
def active_bo_callback(self, msg): def active_bo_callback(self, msg):
if not self.active_bo_pending: if not self.active_bo_pending:
@ -164,6 +167,10 @@ class ActiveBOTopic(Node):
self.init_step = 0 self.init_step = 0
self.init_pending = False self.init_pending = False
if self.user_asked:
self.last_user_reward = self.rl_reward
self.user_asked = False
self.rl_pending = False self.rl_pending = False
self.reset_rl_response() self.reset_rl_response()
@ -171,16 +178,17 @@ class ActiveBOTopic(Node):
if self.active_bo_pending: if self.active_bo_pending:
# set rl environment # set rl environment
if self.bo_env == "Mountain Car": if self.env is None:
self.env = Continuous_MountainCarEnv() if self.bo_env == "Mountain Car":
elif self.bo_env == "Cartpole": self.env = Continuous_MountainCarEnv()
self.env = CartPoleEnv() elif self.bo_env == "Cartpole":
elif self.bo_env == "Acrobot": self.env = CartPoleEnv()
self.env = AcrobotEnv() elif self.bo_env == "Acrobot":
elif self.bo_env == "Pendulum": self.env = AcrobotEnv()
self.env = PendulumEnv() elif self.bo_env == "Pendulum":
else: self.env = PendulumEnv()
raise NotImplementedError else:
raise NotImplementedError
if self.BO is None: if self.BO is None:
self.BO = BayesianOptimization(self.env, self.BO = BayesianOptimization(self.env,
@ -194,7 +202,7 @@ class ActiveBOTopic(Node):
# self.BO.initialize() # self.BO.initialize()
self.init_pending = True self.init_pending = True
self.get_logger().info('BO Initialization is starting!') self.get_logger().info('BO Initialization is starting!')
self.get_logger().info(f'{self.rl_pending}') # self.get_logger().info(f'{self.rl_pending}')
if self.init_pending and not self.rl_pending: if self.init_pending and not self.rl_pending:
@ -283,8 +291,6 @@ class ActiveBOTopic(Node):
self.get_logger().info('Responding: Active BO') self.get_logger().info('Responding: Active BO')
self.active_bo_pub.publish(bo_response) self.active_bo_pub.publish(bo_response)
self.reset_bo_request() self.reset_bo_request()
self.active_bo_pending = False
self.BO = None
else: else:
if self.rl_pending or self.init_pending: if self.rl_pending or self.init_pending:
@ -388,9 +394,7 @@ class ActiveBOTopic(Node):
state_msg.current_episode = self.current_episode + 1 \ state_msg.current_episode = self.current_episode + 1 \
if self.current_episode < self.bo_episodes else self.bo_episodes if self.current_episode < self.bo_episodes else self.bo_episodes
state_msg.best_reward = float(self.best_reward) state_msg.best_reward = float(self.best_reward)
if self.user_asked: state_msg.last_user_reward = self.last_user_reward
state_msg.last_user_reward = float(self.rl_reward)
self.user_asked = False
self.state_pub.publish(state_msg) self.state_pub.publish(state_msg)

18
src/active_bo_ros/launch/launch_active_bo.launch.py
View File

@ -16,14 +16,14 @@ def generate_launch_description():
) )
) )
rl_launch = IncludeLaunchDescription( # rl_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource( # PythonLaunchDescriptionSource(
os.path.join( # os.path.join(
get_package_share_directory('active_bo_ros'), # get_package_share_directory('active_bo_ros'),
'rl_service.launch.py' # 'rl_service.launch.py'
) # )
) # )
) # )
bo_launch = IncludeLaunchDescription( bo_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
@ -36,6 +36,6 @@ def generate_launch_description():
return LaunchDescription([ return LaunchDescription([
websocket_launch, websocket_launch,
rl_launch, # rl_launch,
bo_launch bo_launch
]) ])