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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
View File

@ -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)

36
src/active_bo_ros/active_bo_ros/interactive_bo.py
View File

@ -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()
@ -171,16 +178,17 @@ class ActiveBOTopic(Node):
if self.active_bo_pending:
# set rl environment
if self.bo_env == "Mountain Car":
self.env = Continuous_MountainCarEnv()
elif self.bo_env == "Cartpole":
self.env = CartPoleEnv()
elif self.bo_env == "Acrobot":
self.env = AcrobotEnv()
elif self.bo_env == "Pendulum":
self.env = PendulumEnv()
else:
raise NotImplementedError
if self.env is None:
if self.bo_env == "Mountain Car":
self.env = Continuous_MountainCarEnv()
elif self.bo_env == "Cartpole":
self.env = CartPoleEnv()
elif self.bo_env == "Acrobot":
self.env = AcrobotEnv()
elif self.bo_env == "Pendulum":
self.env = PendulumEnv()
else:
raise NotImplementedError
if self.BO is None:
self.BO = BayesianOptimization(self.env,
@ -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)

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

@ -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
])