lukovicaleksa / autonomous-driving-turtlebot-with-reinforcement-learning Goto Github PK

Hi, your project is amazing. I want to improve a model by using your model and then set rewards only for distance to get to the goal. Do you think will it be possible?

Hey,
first of all, amazing work! secondly, in the simulation everything worked fine but in real world , it gives an error.
lidar_right = min(lidar[(ANGLE_MAX - HORIZON_WIDTH):(ANGLE_MAX)])
ValueError: min() arg is an empty sequence
I have set REAL_ROBOT = True

I am interested in this video. And I just want to follow this . But I'm a beginner of ROS.
So I'cant begin this git project. When I run this project, gazebo simulation is fail (turtlebot is crashed)
I think this is because I just run each python file. (like use this command to run scan_node.py $ python scan_node.py)
Can you explain how can I run this whole file. (like rqt graph)
I think I must use roslaunch command but I don't know how can i use this command.

could you give me a code when you start this simulation in gazebo?

Hello, I'm glad the simulation worked fine before. But now, when I try to run it as a turtlebot in a real environment, it keeps crashing. The wheels don't stop and keep spinning even when bumped. Do I need Gazebo or Rvis even when running in a real environment? Do I need to upload a map? It's an honor to do your project.

Hello,
I get this error when running learning_node.py
the error message appear (occasionally) in between the episode output
can anyone help, please
(i'm using ubuntu 20.04.3, python 3.8.10, and ros noetic 1.15.13)

Episode 8 ==> CRASH {-0.20,-0.17,34.12} 30/12/2021 16:45:18
episode time: 4.94 s (avg step: 0.21 s)
episode steps: 23
episode reward: -103.50
episode max | avg | min reward: 0.10 | -4.70 | -100.00
T = 17.458432

Exception in thread /scan:
Traceback (most recent call last):
File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
self.run()
File "/usr/lib/python3.8/threading.py", line 870, in run
self._target(*self._args, **self._kwargs)
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_pubsub.py", line 185, in robust_connect_subscriber
conn.receive_loop(receive_cb)
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 846, in receive_loop
self.close()
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 858, in close
self.socket.close()
AttributeError: 'NoneType' object has no attribute 'close'

Episode 9 ==> CRASH {-0.11,-0.23,19.62} 30/12/2021 16:45:24
episode time: 5.97 s (avg step: 0.21 s)
episode steps: 28
episode reward: -106.90
episode max | avg | min reward: 0.00 | -3.96 | -100.00
T = 16.585511

Hello,
I saw your great YouTube Video, and I wanted to try this by myself. After I read your ReadMe.md I was a bit confused, because there where no explanation how to launch this project. Can You just explain which of the nodes you used or share a launchflie to start the project in the right way.

I would be really happy to get an answer.