Add agent side ROS #82
Conversation
|
Yuhui seems not to be a GitHub user. You need a GitHub account to be able to sign the CLA. If you have already a GitHub account, please add the email address used for this commit to your account. You have signed the CLA already but the status is still pending? Let us recheck it. |
There was a problem hiding this comment.
@W9YBZ this code is not clean and I am not sure it will work out of the box yet, need to think about the flow of information through the new design for the framework, please familiarize with new packages/nodes in repo and re-implement.
Please see the comments, but I think a re-write of most scripts is required so probably better to see them as useful pointers for the re-design.
Let me know if you have questions and we can discuss.
|
|
||
| To run the agent with Flask interface with ROS | ||
|
|
||
| In conda environment using the following command: |
There was a problem hiding this comment.
Specify where the user should change directory
There was a problem hiding this comment.
Changed to follow the tutorials in last step
| version: v0.1 | ||
|
|
||
| max_env_steps: 1 | ||
| max_episodes: 100 |
There was a problem hiding this comment.
add newline at end of file
| import requests | ||
|
|
||
|
|
||
| class RosApi: |
There was a problem hiding this comment.
Don't want this to be a ROS specific interface, ideally this should be able to communicate with other environments - maybe HttpApi?
Make sure to update filename too.
There was a problem hiding this comment.
Added: To change communication port, in HEBO/Agent/src/agent/tasks/http_api.py replace http://localhost:5000 with with your actual port.
|
|
||
| class RosApi: | ||
|
|
||
| # Defined on ros side |
There was a problem hiding this comment.
inconsistent indentation - use black to format code
| self._response = None | ||
|
|
||
| @staticmethod | ||
| def bad_response(obs): |
|
|
||
| def request_human_feedback(self): | ||
| """Prompt for human feedback from the terminal.""" | ||
| self.latest_human_feedback = input(" Human, please enter input: ") |
There was a problem hiding this comment.
why input here too? human feedback will be using a chat window in another ros node
| """Prompt for human feedback from the terminal.""" | ||
| self.latest_human_feedback = input(" Human, please enter input: ") | ||
| if self.latest_human_feedback.lower() == "exit": | ||
| print("Killing program...") |
There was a problem hiding this comment.
remove print statement and use rospy.logwarn
| self.latest_human_feedback = input(" Human, please enter input: ") | ||
| if self.latest_human_feedback.lower() == "exit": | ||
| print("Killing program...") | ||
| os.kill(os.getpid(), signal.SIGKILL) |
There was a problem hiding this comment.
sys.exit is the cleaner way to kill ROS nodes
There was a problem hiding this comment.
otherwise it take 5000
| # To read the humanfeedback from a topic | ||
| # def feedback_callback(self, msg): | ||
| # """Callback function to update the latest human feedback.""" | ||
| # self.latest_human_feedback = msg.data |
| while not rospy.is_shutdown(): | ||
| self.request_human_feedback() | ||
| rospy.spin() |
There was a problem hiding this comment.
this is not c++, rospy.spin is not equivalent to ros::spinOnce``, rospy.spin` will catch this and loop internally forever until the node is killed
No description provided.