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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

  1. rosrun offboard_node offboard_node_racing_rate
  2. 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