tried out async methods -> not working

added proxy services to log the service communication

src/active_bo_debugging/active_bo_debugging/active_bo_proxy.py

@@ -0,0 +1,84 @@
+import rclpy
+from rclpy.node import Node
+from active_bo_msgs.srv import ActiveBO
+
+import time
+
+
+class ActiveBOProxy(Node):
+    def __init__(self):
+        super().__init__('active_rl_proxy')
+
+        self.client = self.create_client(ActiveBO, 'abo_proxy')
+
+        while not self.client.wait_for_service(timeout_sec=10.0):
+            self.get_logger().info('Waiting for the active_bo_srv')
+
+        self.server = self.create_service(ActiveBO, 'active_bo_srv', self.proxy_callback)
+
+    def proxy_callback(self, request, response):
+
+        self.get_logger().info(f'Received request:')
+        self.get_logger().info(f'  nr_weights: {request.nr_weights}')
+        self.get_logger().info(f'  max_steps: {request.max_steps}')
+        self.get_logger().info(f'  nr_episodes: {request.nr_episodes}')
+        self.get_logger().info(f'  nr_runs: {request.nr_runs}')
+        self.get_logger().info(f'  acquisition_function: {request.acquisition_function}')
+        self.get_logger().info(f'  epsilon: {request.epsilon}')
+
+        # Forward the request to the original service server
+        future = self.client.call_async(request)
+
+        timeout = 20
+        start_time = time.time()
+        while not future.done():
+            rclpy.spin_once(self, timeout_sec=0.1)
+            # self.get_logger().info(f'{future.result()}')
+            if time.time() - start_time > timeout:
+                self.get_logger().error('Service call timed out.')
+                break
+
+        # self.executor.spin_until_future_complete(future)
+
+        if future.result() is not None:
+            response.new_weights = future.result().new_weights
+            response.final_step = future.result().final_step
+            response.reward = future.result().reward
+
+            self.get_logger().info(f'Sending response:')
+            self.get_logger().info(f'  best_policy: {response.best_policy}')
+            self.get_logger().info(f'  best_weights: {response.best_weights}')
+            self.get_logger().info(f'  reward_mean: {response.reward_mean}')
+            self.get_logger().info(f'  reward_std: {response.reward_std}')
+        # result = self.client.call(request)
+        # if result is not None:
+        #     response.new_weights = result.new_weights
+        #     response.final_step = result.final_step
+        #     response.reward = result.reward
+        #
+        #     self.get_logger().info(f'Sending response:')
+        #     self.get_logger().info(f'  best_policy: {response.best_policy}')
+        #     self.get_logger().info(f'  best_weights: {response.best_weights}')
+        #     self.get_logger().info(f'  reward_mean: {response.reward_mean}')
+        #     self.get_logger().info(f'  reward_std: {response.reward_std}')
+        else:
+            self.get_logger().error('Failed to call the original service')
+
+        return response
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    service_proxy = ActiveBOProxy()
+
+    try:
+        rclpy.spin(service_proxy)
+    except KeyboardInterrupt:
+        pass
+
+    service_proxy.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/active_bo_debugging/active_bo_debugging/active_rl_proxy.py

@@ -0,0 +1,77 @@
+import rclpy
+from rclpy.node import Node
+from active_bo_msgs.srv import ActiveRL
+
+import time
+
+
+class ActiveRLProxy(Node):
+    def __init__(self):
+        super().__init__('active_rl_proxy')
+
+        self.client = self.create_client(ActiveRL, 'arl_proxy')
+
+        while not self.client.wait_for_service(timeout_sec=10.0):
+            self.get_logger().info('Waiting for the active_rl_srv')
+
+        self.server = self.create_service(ActiveRL, 'active_rl_srv', self.proxy_callback)
+
+    def proxy_callback(self, request, response):
+
+        self.get_logger().info(f'Received request:')
+        self.get_logger().info(f' old_policy: {request.old_policy}')
+        self.get_logger().info(f' old_weights: {request.old_weights}')
+
+        # Forward the request to the original service server
+        future = self.client.call_async(request)
+
+        timeout = 10
+        start_time = time.time()
+        while not future.done():
+            rclpy.spin_once(self, timeout_sec=0.1)
+            self.get_logger().info(f'{future.result()}')
+            if time.time() - start_time > timeout:
+                self.get_logger().error('Service call timed out.')
+                break
+        # self.executor.spin_until_future_complete(future)
+
+        if future.result() is not None:
+            response.new_weights = future.result().new_weights
+            response.final_step = future.result().final_step
+            response.reward = future.result().reward
+
+            self.get_logger().info(f'Sending response:')
+            self.get_logger().info(f' new_weigths: {response.new_weights}')
+            self.get_logger().info(f'  final_step: {response.final_step}')
+            self.get_logger().info(f'  reward: {response.reward}')
+        # result = self.client.call(request)
+        # if result is not None:
+        #     response.new_weights = result.new_weights
+        #     response.final_step = result.final_step
+        #     response.reward = result.reward
+        #
+        #     self.get_logger().info(f'Sending response:')
+        #     self.get_logger().info(f' new_weigths: {response.new_weights}')
+        #     self.get_logger().info(f'  final_step: {response.final_step}')
+        #     self.get_logger().info(f'  reward: {response.reward}')
+        else:
+            self.get_logger().error('Failed to call the original service')
+
+        return response
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    service_proxy = ActiveRLProxy()
+
+    try:
+        rclpy.spin(service_proxy)
+    except KeyboardInterrupt:
+        pass
+
+    service_proxy.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/active_bo_debugging/launch/debug_bo.launch.py

@@ -0,0 +1,57 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+from ament_index_python import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    websocket_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('active_bo_ros'),
+                'rosbridge_server.launch.py'
+            )
+        )
+    )
+    rl_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('active_bo_ros'),
+                'rl_service.launch.py'
+            )
+        )
+    )
+    bo_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('active_bo_ros'),
+                'bo_service.launch.py'
+            )
+        )
+    )
+    arl_launch = Node(
+        package='active_bo_ros',
+        executable='active_rl_srv',
+        name='active_rl_service',
+        remappings=[
+            ('active_rl_srv', 'arl_proxy')
+        ],
+    )
+    abo_launch = Node(
+        package='active_bo_ros',
+        executable='active_bo_srv',
+        name='active_bo_service',
+        remappings=[
+            ('active_bo_srv', 'abo_proxy')
+        ],
+    )
+    return LaunchDescription([
+        websocket_launch,
+        rl_launch,
+        bo_launch,
+        arl_launch,
+        abo_launch
+    ])

src/active_bo_debugging/launch/debug_proxy.launch.py

@@ -0,0 +1,17 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='active_bo_debugging',
+            executable='active_rl_proxy',
+            name='active_rl_proxy'
+        ),
+        Node(
+            package='active_bo_debugging',
+            executable='active_bo_proxy',
+            name='active_bo_proxy'
+        ),
+    ])

src/active_bo_debugging/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>active_bo_debugging</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
+  <license>TODO: License declaration</license>
+
+  <exec_depend>example_interfaces</exec_depend>
+  <exec_depend>active_bo_msgs</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/active_bo_debugging/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/active_bo_debugging
+[install]
+install_scripts=$base/lib/active_bo_debugging

src/active_bo_debugging/setup.py

@@ -0,0 +1,31 @@
+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'active_bo_debugging'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+         ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name), glob('launch/*.launch.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='niko',
+    maintainer_email='nikolaus.feith@unileoben.ac.at',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'active_rl_proxy = active_bo_debugging.active_rl_proxy:main',
+            'active_bo_proxy = active_bo_debugging.active_bo_proxy:main',
+            'active_rl_test = active_bo_ros.active_rl_test_node:main',
+        ],
+    },
+)

src/active_bo_debugging/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/active_bo_debugging/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/active_bo_debugging/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/active_bo_ros/active_bo_ros/active_bo_service.py

@@ -10,6 +10,7 @@ from active_bo_ros.BayesianOptimization.BayesianOptimization import BayesianOpti
 from active_bo_ros.ReinforcementLearning.ContinuousMountainCar import Continuous_MountainCarEnv
 
 import numpy as np
+import time
 
 
 class ActiveBOService(Node):
@@ -69,10 +70,17 @@ class ActiveBOService(Node):
                     future_rl = self.active_rl_client.call_async(arl_request)
                     self.get_logger().info(str(future_rl))
 
+                    timeout = 10
+                    start_time = time.time()
                     while not future_rl.done():
-                        rclpy.spin_once(self)
-                        self.get_logger().info('waiting for response!')
+                        rclpy.spin_once(self, timeout_sec=0.1)
+                        # self.get_logger().info(f'{future_rl.result()}')
+                        if time.time() - start_time > timeout:
+                            self.get_logger().error('Service call timed out.')
+                            break
+                    # self.executor.spin_until_future_complete(future_rl)
 
+                    # arl_response = self.active_rl_client.call(arl_request)
                     self.get_logger().info('Received: Active RL')
 
                     try:
@@ -81,8 +89,6 @@ class ActiveBOService(Node):
                     except Exception as e:
                         self.get_logger().error('active RL Service failed %r' % (e,))
 
-                    future_rl = None
-
                 # BO part
                 else:
                     x_next = BO.next_observation()

src/active_bo_ros/active_bo_ros/active_rl_service.py

@@ -11,49 +11,42 @@ from active_bo_ros.ReinforcementLearning.ContinuousMountainCar import Continuous
 
 import numpy as np
 import time
+import copy
 
 
 class ActiveRLService(Node):
     def __init__(self):
         super().__init__('active_rl_service')
         srv_callback_group = ReentrantCallbackGroup()
-        sub_callback_group = ReentrantCallbackGroup()
+        topic_callback_group = ReentrantCallbackGroup()
 
         self.srv = self.create_service(ActiveRL,
                                        'active_rl_srv',
                                        self.active_rl_callback,
                                        callback_group=srv_callback_group)
 
-        self.publisher = self.create_publisher(ImageFeedback, 'rl_feedback', 1, callback_group=srv_callback_group)
+        self.publisher = self.create_publisher(ImageFeedback, 'rl_feedback', 1, callback_group=topic_callback_group)
 
         self.eval_pub = self.create_publisher(ActiveRLEval,
                                               'active_rl_eval_request',
                                               1,
-                                              callback_group=srv_callback_group)
+                                              callback_group=topic_callback_group)
         self.eval_sub = self.create_subscription(ActiveRLEval,
                                                  'active_rl_eval_response',
                                                  self.active_rl_eval_callback,
                                                  1,
-                                                 callback_group=srv_callback_group)
+                                                 callback_group=topic_callback_group)
+
         self.eval_response_received = False
         self.eval_response = None
-        self.eval_response_received_first = False
 
         self.env = Continuous_MountainCarEnv(render_mode='rgb_array')
         self.distance_penalty = 0
 
     def active_rl_eval_callback(self, response):
-        # if not self.eval_response_received_first:
-        #     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
         self.eval_response = response
         self.eval_response_received = True
 
-
-
     def active_rl_callback(self, request, response):
 
         self.get_logger().info('Active RL: Called')
@@ -100,12 +93,14 @@ class ActiveRLService(Node):
         self.get_logger().info('Enter new solution!')
         self.eval_pub.publish(eval_request)
 
-        while not self.eval_response_received:
-            rclpy.spin_once(self)
+        while rclpy.ok():
+            rclpy.spin_once(self, timeout_sec=0.1)
+            if self.eval_response_received:
+                break
 
         self.get_logger().info('Topic responded!')
-        new_policy = self.eval_response.policy
-        new_weights = self.eval_response.weights
+        new_policy = copy.deepcopy(self.eval_response.policy)
+        new_weights = copy.deepcopy(self.eval_response.weights)
         self.eval_response_received = False
         self.eval_response = None
 
@@ -149,6 +144,8 @@ class ActiveRLService(Node):
         response.reward = reward
         response.final_step = step_count
 
+        self.get_logger().info(f'{response}')
+
         return response
 
 

src/active_bo_ros/setup.py

@@ -32,7 +32,6 @@ setup(
             'bo_srv = active_bo_ros.bo_service:main',
             'active_bo_srv = active_bo_ros.active_bo_service:main',
             'active_rl_srv = active_bo_ros.active_rl_service:main',
-            'active_rl_test = active_bo_ros.active_rl_test_node:main',
         ],
     },
 )