GAZEBO_RL

GAZEBO_RL

Current Setting

1. Callback Hz : 30Hz
2. Offboard Hz : 30Hz
3. RL Hz : 20Hz

Env

1. ROS melodic
2. Gazebo
3. Python 2.7
4. Pytorch 1.5.1
5. Cuda 10.0
6. Cudnn 7.5.5

HOW TO USE - PPO

1. roslaunch px4 mavros_sitl_posix.launch
2. Open QgroundControl
3. Hz Setting, First check Callback Hz (Optional)

If your Callback Hz below 100, then You have to type
"mavlink stream -r 200 -s LOCAL_POSITION_NED -u {port_num}" in roslaunch px4 terminal

4. rosrun offboard_node offboard_node_racing_rate
5. rosrun rl ppo_lstm_hovering_v2.py

HOW TO USE - MADDPG

1. roslaunch rl capturing.launch
2. Open QgroundControl
3. Set All Vehicle Arming and OFFBOARD
4. rosrun rl MADDPG_Capturing.py
5. rosrun offboard_node offboard_node_racing_vel_track0
6. rosrun offboard_node offboard_node_racing_vel_track1
7. rosrun offboard_node offboard_node_racing_vel_target