Hello,
Im trying to implement openai lane following task from this course: Create Your First Robot with ROS (task 8). I understand the class structure and have implemented it the same way it was built in other openai ros courses. However, my local version gets stuck on a line where it make gym environment: self.env = gym.make(‘RosBotsEnv-v0’). Nothing happens afterwards.
started roslaunch server http://rob-MS-7C60:43471/
SUMMARY
PARAMETERS
- /rosbots/alpha: 0.01
- /rosbots/alpha_decay: 0.01
- /rosbots/angular_speed: 0.45
- /rosbots/batch_size: 64
- /rosbots/cur_lane_offset: 1.51
- /rosbots/end_episode_points: 200
- /rosbots/episodes_training: 1000
- /rosbots/epsilon: 1.0
- /rosbots/epsilon_decay: 0.995
- /rosbots/epsilon_min: 0.01
- /rosbots/follow_lane_reward: 5
- /rosbots/gamma: 1.0
- /rosbots/init_linear_forward_speed: 0.0
- /rosbots/init_linear_turn_speed: 0.0
- /rosbots/left_right_reward: 2.5
- /rosbots/linear_forward_speed: 1.5
- /rosbots/linear_turn_speed: 0.1
- /rosbots/look_ahead_distance: 100
- /rosbots/max_lane_offset: 1.5
- /rosbots/min_episodes: 100
- /rosbots/monitor: True
- /rosbots/n_actions: 3
- /rosbots/n_observations: 19200
- /rosbots/n_win_ticks: 250
- /rosbots/number_decimals_precision_obs: 4
- /rosbots/quiet: False
- /rosbots/safe_lane_offset: -1.5
- /rosbots/speed_step: 1.0
- /rosbots/veer_off_reward: -10
- /rosdistro: noetic
- /rosversion: 1.16.0
NODES
/
rosbots_n1try_algorithm (my_rosbots_training/start_training.py)
auto-starting new master
process[master]: started with pid [32559]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7fbb3872-fa48-11ee-a8a4-5f8b8a5aa93d
process[rosout-1]: started with pid [32616]
started core service [/rosout]
process[rosbots_n1try_algorithm-2]: started with pid [32623]
hello1
hello2
hello22
def __init__(self, n_observations, n_actions, n_episodes=1000, n_win_ticks=195, min_episodes=100, max_env_steps=None, gamma=1.0, epsilon=1.0, epsilon_min=0.01, epsilon_log_decay=0.995, alpha=0.01, alpha_decay=0.01, batch_size=64, monitor=False, quiet=False):
self.memory = deque(maxlen=100000)
print("hello22")
self.env = gym.make('RosBotsEnv-v0')
print("hello3")
if monitor:
self.env = gym.wrappers.Monitor(
self.env, '../data/rosbots', force=True)
print("hello4")
It would be nice if you could help to understand what could be wrong in this situation.
Best regards,
Roberts