problems with loop time

src/active_bo_ros/active_bo_ros/active_rl_topic.py

@@ -73,7 +73,7 @@ class ActiveRLService(Node):
         self.display_run = False
 
         # 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_callback,
                                           callback_group=mainloop_callback_group)

src/active_bo_ros/active_bo_ros/interactive_bo.py

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

src/active_bo_ros/launch/launch_active_bo.launch.py

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