[RDS] 004 – ROS Development Studio #Howto use git in RDS

Written by Ruben Alves

14/02/2018

In this video we show how to use git in RDS.

We do that by showing how to use git to clone a Gazebo Simulation of the Parrot Ardrone on the ~/simulation_ws (Simulation Workspace) and also we use git to clone a training package to the ~/catkin_ws (Catkin Workspace). This last package is used to train the robot.

Important thins about the video:

1. We use RDS (ROS Development Studio) available at: http://rds.theconstructsim.com/
2. The drone_training package used is available at: https://bitbucket.org/theconstructcore/drone_training.git
3. The Parrot Ardrone simulation is available at: https://bitbucket.org/theconstructcore/parrot_ardrone
4. If you want more details about the drone_training package you can go to https://www.theconstruct.ai/using-openai-ros/
5. The simulation was cloned to ~/simulation_ws/src
6. The training package was cloned to ~/catkin_ws/src
7. To start the training we used: roslaunch drone_training main.launch

If you prefer to use your own computer, you just have to install:

1. ROS (http://wiki.ros.org/ROS/Installation)
2. OpenAI (https://gym.openai.com/docs/)
3. Have a Gazebo simulation (https://bitbucket.org/account/user/theconstructcore/projects/PS)

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1 Comment

  1. Elias Arbash

    Hi,

    I managed to change the state that is being passed to the learning algorithm from the coordinates on the x-axes to the x-y-z axes (all the coordinates).

    However, i want to pass the compressed camera images to the q learning algorithm, but i am getting a problem after launching the main.launch file: the exception of the camera data is being received and the process will not continue.
    Any suggestions? here is the edited the piece of code i am adding to the “myquadcopter_env.py” file:

    def take_observation (self):
    data_pose = None
    while data_pose is None:
    try:
    data_pose = rospy.wait_for_message(‘/drone/gt_pose’, Pose, timeout=5)
    except:
    rospy.loginfo(“Current drone pose not ready yet, retrying for getting robot pose”)

    data_imu = None
    while data_imu is None:
    try:
    data_imu = rospy.wait_for_message(‘/drone/imu’, Imu, timeout=5)
    except:
    rospy.loginfo(“Current drone imu not ready yet, retrying for getting robot imu”)

    data_cam = None
    while data_cam is None:
    try:
    data_cam = rospy.wait_for_message(‘/drone/sonar’, Range, timeout=5)
    except:
    rospy.loginfo(“Current drone front_image compressed not ready yet, retrying for getting robot rompressed”)

    return data_pose, data_imu

    i

    Reply

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