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run_drl_vo.py
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run_drl_vo.py
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import time
import argparse
import subprocess
import os
from os.path import join
import numpy as np
import rospy
import rospkg
from roslauncher import ROSLauncher
from gazebo_simulation import GazeboSimulation
INIT_POSITION = [-2, 3, 1.57] # in world frame
GOAL_POSITION = [0, 10] # relative to the initial position
def compute_distance(p1, p2):
return ((p1[0] - p2[0]) ** 2 + (p1[1] - p2[1]) ** 2) ** 0.5
def path_coord_to_gazebo_coord(x, y):
RADIUS = 0.075
r_shift = -RADIUS - (30 * RADIUS * 2)
c_shift = RADIUS + 5
gazebo_x = x * (RADIUS * 2) + r_shift
gazebo_y = y * (RADIUS * 2) + c_shift
return (gazebo_x, gazebo_y)
class RUN_DRL_VO:
def __init__(self, world_idx=0, gui=False, out_path="out.txt"):
# parameters:
self.gui = gui
self.out_path = out_path
##########################################################################################
## 0. Launch Gazebo Simulation
##########################################################################################
rospack = rospkg.RosPack()
self.BASE_PATH = rospack.get_path('jackal_helper')
world = "BARN/world_%d.world" %(world_idx)
world_name = join(self.BASE_PATH, "worlds", world)
world_argument = 'world_name:=' + world_name
gui_argument = 'gui:=' + str(self.gui)
gazebo_arguments = [world_argument, gui_argument]
print(">>>>>>>>>>>>>>>>>> Loading Gazebo Simulation with %s <<<<<<<<<<<<<<<<<<" %(world))
self.gazebo_launcher = ROSLauncher(rospackage_name="jackal_helper",\
launch_file_name="gazebo_launch.launch",\
arguments=gazebo_arguments)
time.sleep(6) # sleep to wait until the gazebo being created
# GazeboSimulation provides useful interface to communicate with gazebo
self.gazebo_sim = GazeboSimulation(init_position=INIT_POSITION)
self.init_coor = (INIT_POSITION[0], INIT_POSITION[1])
self.goal_coor = (INIT_POSITION[0] + GOAL_POSITION[0], INIT_POSITION[1] + GOAL_POSITION[1])
pos = self.gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
collided = True
# check whether the robot is reset, the collision is False
while compute_distance(self.init_coor, curr_coor) > 0.1 or collided:
self.gazebo_sim.reset() # Reset to the initial position
pos = self.gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
collided = self.gazebo_sim.get_hard_collision()
time.sleep(1)
##########################################################################################
## 1. Launch your navigation stack
## (Customize this block to add your own navigation stack)
##########################################################################################
start = False
start_argument = 'start:=' + str(start)
goal_x_argument = 'goal_x:=' + str(GOAL_POSITION[0])
goal_y_argument = 'goal_y:=' + str(GOAL_POSITION[1])
nav_arguments = [start_argument, goal_x_argument, goal_y_argument]
self.navigation_launcher = ROSLauncher(rospackage_name="jackal_helper",\
launch_file_name="move_base_drl_vo.launch",\
arguments=nav_arguments)
time.sleep(2)
def start_naviagtion(self, world_idx=0):
##########################################################################################
## 0. Launch Gazebo Simulation
##########################################################################################
world = "BARN/world_%d.world" %(world_idx)
world_name = join(self.BASE_PATH, "worlds", world)
world_argument = 'world_name:=' + world_name
gui_argument = 'gui:=' + str(self.gui)
gazebo_arguments = [world_argument, gui_argument]
print(">>>>>>>>>>>>>>>>>> Loading Gazebo Simulation with %s <<<<<<<<<<<<<<<<<<" %(world))
self.gazebo_launcher.restart(arguments=gazebo_arguments)
time.sleep(6) # sleep to wait until the gazebo being created
# reset gazebo state:
self.gazebo_sim.reset()
pos = self.gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
collided = True
# check whether the robot is reset, the collision is False
while compute_distance(self.init_coor, curr_coor) > 0.1 or collided:
self.gazebo_sim.reset() # Reset to the initial position
pos = self.gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
collided = self.gazebo_sim.get_hard_collision()
time.sleep(1)
##########################################################################################
## 1. Launch your navigation stack
## (Customize this block to add your own navigation stack)
##########################################################################################
start = True
start_argument = 'start:=' + str(start)
goal_x_argument = 'goal_x:=' + str(GOAL_POSITION[0])
goal_y_argument = 'goal_y:=' + str(GOAL_POSITION[1])
nav_arguments = [start_argument, goal_x_argument, goal_y_argument]
self.navigation_launcher.restart(arguments=nav_arguments)
time.sleep(2)
##########################################################################################
## 2. Start navigation
##########################################################################################
curr_time = rospy.get_time()
pos = self.gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
# check whether the robot started to move
while compute_distance(self.init_coor, curr_coor) < 0.1:
curr_time = rospy.get_time()
pos = self.gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
time.sleep(0.01)
# start navigation, check position, time and collision
start_time = curr_time
start_time_cpu = time.time()
collided = False
while compute_distance(self.goal_coor, curr_coor) > 1 and not collided and curr_time - start_time < 100:
curr_time = rospy.get_time()
pos = self.gazebo_sim.get_model_state().pose.position
curr_coor = (pos.x, pos.y)
print("Time: %.2f (s), x: %.2f (m), y: %.2f (m)" %(curr_time - start_time, *curr_coor), end="\r")
collided = self.gazebo_sim.get_hard_collision()
while rospy.get_time() - curr_time < 0.1:
time.sleep(0.01)
##########################################################################################
## 3. Report metrics and generate log
##########################################################################################
print(">>>>>>>>>>>>>>>>>> Test finished! <<<<<<<<<<<<<<<<<<")
success = False
if collided:
status = "collided"
elif curr_time - start_time >= 100:
status = "timeout"
else:
status = "succeeded"
success = True
print("Navigation %s with time %.4f (s)" %(status, curr_time - start_time))
path_file_name = join(self.BASE_PATH, "worlds/BARN/path_files", "path_%d.npy" %world_idx)
path_array = np.load(path_file_name)
path_array = [path_coord_to_gazebo_coord(*p) for p in path_array]
path_array = np.insert(path_array, 0, (INIT_POSITION[0], INIT_POSITION[1]), axis=0)
path_array = np.insert(path_array, len(path_array), (INIT_POSITION[0] + GOAL_POSITION[0], INIT_POSITION[1] + GOAL_POSITION[1]), axis=0)
path_length = 0
for p1, p2 in zip(path_array[:-1], path_array[1:]):
path_length += compute_distance(p1, p2)
# Navigation metric: 1_success * optimal_time / clip(actual_time, 4 * optimal_time, 8 * optimal_time)
optimal_time = path_length / 2
actual_time = curr_time - start_time
nav_metric = int(success) * optimal_time / np.clip(actual_time, 4 * optimal_time, 8 * optimal_time)
print("Navigation metric: %.4f" %(nav_metric))
with open(self.out_path, "a") as f:
f.write("%d %d %d %d %.4f %.4f\n" %(world_idx, success, collided, (curr_time - start_time)>=100, curr_time - start_time, nav_metric))
if __name__ == "__main__":
parser = argparse.ArgumentParser(description = 'test BARN navigation challenge')
parser.add_argument('--gui', action="store_true")
parser.add_argument('--out', type=str, default="out.txt")
parser.add_argument('--trials', type=int, default=1)
args = parser.parse_args()
# environment parameters:
os.environ["JACKAL_LASER"] = "1"
os.environ["JACKAL_LASER_MODEL"] = "ust10"
os.environ["JACKAL_LASER_OFFSET"] = "-0.065 0 0.01"
# launch roscore:
roscore_process = subprocess.Popen('roscore')
time.sleep(1)
# create node:
rospy.init_node('gym', anonymous=True) #, log_level=rospy.FATAL)
rospy.set_param('/use_sim_time', True)
# initialize running test:
run_drl_vo = RUN_DRL_VO(world_idx=0, gui=args.gui, out_path=args.out)
# run tests:
for i in range(0, 50):
world_idx = i*6
for j in range(0, args.trials):
run_drl_vo.start_naviagtion(world_idx)
# close roscore:
roscore_process.terminate()