Merge branch 'simple_learn'

.deepsource.toml

@@ -1,5 +1,12 @@
 version = 1
 
+exclude_patterns = [
+  "examples/**",
+  "gym/f110_gym/**",
+  "gym_env/share/**",
+  "docs/**"
+]
+
 [[analyzers]]
 name = "python"
 

.github/workflows/ci.yml

@@ -2,28 +2,41 @@ name: CI
 
 on:
   push:
-    branches: [ main ]
   pull_request:
     branches: [ main ]
 
 jobs:
-  build:
-
+  build-gym:
     runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        python-version: ["3.8", "3.9"]
-
     steps:
     - uses: actions/checkout@v2
-
-    - name: Set up Python ${{ matrix.python-version }}
+    - name: Set up Python 3.8
       uses: actions/setup-python@v2
       with:
-        python-version: ${{ matrix.python-version }}
-
+        python-version: '3.8'
     - name: Install
       run: |
         python -m pip install --upgrade pip
         pip install -e .
+  
+  build-ros:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: '3.8'
+    - name: Install
+      run: |
+        python -m pip install --upgrade pip
+        pip install -e ./model-gym-ros-env/car_node/car_node
+
+  build-image:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Build Docker image
+      run: |
+        docker build .

.gitignore

@@ -202,6 +202,9 @@ runs/
 PPO_*/
 
 
+train_test/PPO_*/
+
+
 ### VirtualEnv ###
 # Virtualenv
 # http://iamzed.com/2009/05/07/a-primer-on-virtualenv/

Dockerfile-gym-ros

@@ -0,0 +1,102 @@
+# MIT License
+
+# Copyright (c) 2020 Hongrui Zheng
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+FROM ros:foxy
+
+SHELL ["/bin/bash", "-c"]
+
+# dependencies
+RUN apt-get update --fix-missing && \
+    apt-get install -y git \
+    nano \
+    python3-pip \
+    libeigen3-dev \
+    tmux \
+    ros-foxy-rviz2
+RUN apt-get -y dist-upgrade
+RUN pip3 install transforms3d
+
+# f1tenth gym
+RUN git clone https://github.com/f1tenth/f1tenth_gym
+RUN cd f1tenth_gym && \
+    pip3 install -e .
+
+# ros2 gym bridge
+# RUN mkdir -p sim_ws/src/f1tenth_gym_ros
+# COPY ./f1tenth_gym_ros /sim_ws/src/f1tenth_gym_ros
+RUN git clone https://github.com/f1tenth/f1tenth_gym_ros.git /sim_ws/src/f1tenth_gym_ros && \
+    cd /sim_ws/src/f1tenth_gym_ros && \
+    git checkout 910789ad9029839abda0d7b6d66f46945fe5cef0
+RUN source /opt/ros/foxy/setup.bash && \
+    cd sim_ws/ && \
+    apt-get update --fix-missing && \
+    rosdep install -i --from-path src --rosdistro foxy -y && \
+    colcon build
+
+# our dependencies
+RUN echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc && \
+    echo "source /sim_ws/install/setup.bash" >> ~/.bashrc && \
+    pip install --upgrade pip && \
+    # ROS2 packages
+    source /opt/ros/foxy/setup.bash && \
+    ros2 pkg create --destination-directory /sim_ws/src car_node --build-type ament_python --dependencies rclpy && \
+    # f1tenth gym env branch v1.0.0
+    rm -rf /sim_ws/src/car_node/car_node && \
+    git clone --depth=1 https://github.com/f1tenth/f1tenth_gym.git /sim_ws/src/car_node/car_node && \
+    cd /sim_ws/src/car_node/car_node && \
+    git checkout cd56335eda43ff4e401331c461877227474a3ed4 && \
+    touch /sim_ws/src/car_node/car_node/__init__.py && \
+    # Put all maps maps in f1tenth gym ros
+    cd / && \
+    git clone --single-branch --branch v1.0.0 https://github.com/f1tenth/f1tenth_racetracks.git && \
+    cp f1tenth_racetracks/*/*.{png,yaml} /sim_ws/src/f1tenth_gym_ros/maps/ && \
+    # Put all maps in car_node
+    mkdir -p /sim_ws/src/car_node/car_node/map/ && \
+    mv f1tenth_racetracks /sim_ws/src/car_node/car_node/map/
+
+COPY model-gym-ros-env/car_node/setup.py /sim_ws/src/car_node/setup.py
+COPY model-gym-ros-env/car_node/car_node/main.py model-gym-ros-env/car_node/car_node/wrapper.py model-gym-ros-env/car_node/car_node/map_utility.py model-gym-ros-env/car_node/car_node/setup.py /sim_ws/src/car_node/car_node/
+COPY train_test /sim_ws/src/car_node/car_node/train_test
+
+RUN pip install -e /sim_ws/src/car_node/car_node && \
+    # pip install stable_baselines3 && \
+    # pip install 'shimmy>=0.2.1' && \
+    source /opt/ros/foxy/setup.bash && \
+    cd sim_ws/ && \
+    colcon build
+
+# RUN pip install setuptools==65.7.0 && \
+#     pip install -e /sim_ws/src/car_node/car_node && \
+#     pip install stable_baselines3 && \
+#     pip install 'shimmy>=0.2.1' && \
+#     cd sim_ws/ && \
+#     colcon build
+
+#     pip install gym[atari,accept-rom-license]==0.19.0 && \
+#     pip install 'stable-baselines3[extra]' && \
+#     pip install -e /sim_ws/src/car_node/car_node && \
+#     source /opt/ros/foxy/setup.bash && \
+#     cd sim_ws/ && \
+#     colcon build
+
+WORKDIR '/sim_ws'
+ENTRYPOINT ["/bin/bash"]

docker-compose-ros-env.yml

@@ -0,0 +1,46 @@
+# MIT License
+
+# Copyright (c) 2020 Hongrui Zheng
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+version: '3'
+services:
+  sim:
+    image: manuandru/f1tenth-gym-ros-model-env:latest
+    # volumes: 
+    #   - .:/sim_ws/src/f1tenth_gym_ros
+    #   - ../src:/sim_ws/src/
+    environment:
+     - DISPLAY=novnc:0.0
+    networks:
+      - x11
+    stdin_open: true
+    tty: true 
+  novnc:  
+    image: theasp/novnc:latest
+    environment:
+      - DISPLAY_WIDTH=1728
+      - DISPLAY_HEIGHT=972
+    ports:
+      - "8080:8080"
+    networks:
+      - x11
+networks:
+  x11:

f1tenth_gym-setup.md

@@ -8,7 +8,6 @@ cd f1tenth_gym
 conda create -n f1tenth_gym python=3.8
 conda activate f1tenth_gym
 pip install -e .
-pip install -r requirements.txt
 ```
 
 If there are any error during installation([source](https://github.com/freqtrade/freqtrade/issues/8376#issuecomment-1519257211)):

model-gym-ros-env/car_node/car_node/main.py

@@ -0,0 +1,73 @@
+#!/usr/bin/env python
+# from __future__ import print_function
+import numpy as np
+import rclpy
+from rclpy.node import Node
+
+#ROS Imports
+from sensor_msgs.msg import LaserScan
+from ackermann_msgs.msg import AckermannDriveStamped
+
+
+import gym
+from stable_baselines3 import PPO
+from car_node.wrapper import F110_Wrapped
+from f110_gym.envs.base_classes import Integrator
+from car_node.map_utility import get_map, get_formatted_map, map_ext
+from car_node.wrapper import convert_range
+
+timestep = 0.01
+tensorboard_path = './train_test/'
+map = "BrandsHatch"
+path = get_map(map)
+map_path = get_formatted_map(path)
+device = 'cpu'
+
+STEER_SCALE = 0.5
+SPEED_SCALE = 0.7
+
+class PPOModelEvaluator(Node):
+
+    def __init__(self):
+        super().__init__('wall_follow_node')
+
+        #Topics & Subs, Pubs
+        lidarscan_topic = '/scan'
+        drive_topic = '/drive'
+
+        # Model & Env
+        self.eval_env  = gym.make('f110_gym:f110-v0', map=map_path, map_ext=map_ext, num_agents=1, timestep=timestep, integrator=Integrator.RK4)
+        self.eval_env = F110_Wrapped(self.eval_env, random_map=False)
+        self.eval_env.set_map_path(path)
+        self.model = PPO.load("/sim_ws/src/car_node/car_node/train_test/best_global_model", self.eval_env, device=device)
+        self.vec_env = self.model.get_env()
+
+        # ROS 
+        self.lidar_sub = self.create_subscription(LaserScan, lidarscan_topic, self.lidar_callback, 10)
+        self.drive_pub = self.create_publisher(AckermannDriveStamped, drive_topic, 10)
+
+    def lidar_callback(self, data):
+        d = np.array(data.ranges, dtype=np.float64)
+        d = convert_range(d, [data.angle_min, data.angle_max], [-1, 1])
+
+        action, _states = self.model.predict(d, deterministic=True)
+        action = self.eval_env.un_normalise_actions(action)
+
+        self.get_logger().info(f'{action[0], action[1]}')
+
+        drive_msg = AckermannDriveStamped()
+        drive_msg.header.stamp = self.get_clock().now().to_msg()
+        drive_msg.header.frame_id = "laser"
+        drive_msg.drive.steering_angle = action[0] * STEER_SCALE
+        drive_msg.drive.speed = action[1] * SPEED_SCALE
+        self.drive_pub.publish(drive_msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PPOModelEvaluator()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__=='__main__':
+    main()