im too lazy to type all these, runing a script

Xiushishen · May 2, 2021 · b1ab7cf · b1ab7cf
1 parent c85b617
commit b1ab7cf
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Showing 6 changed files with 7 additions and 6 deletions.
diff --git a/ROAR/agent_module/michael_pid_agent.py b/ROAR/agent_module/michael_pid_agent.py
@@ -37,4 +37,5 @@ def run_step(self, vehicle: Vehicle,
                                        sensors_data=sensors_data)
         self.transform_history.append(self.vehicle.transform)
         control = self.local_planner.run_in_series()
+        print(self.vehicle.transform)
         return control
diff --git a/ROAR/planning_module/local_planner/loop_simple_waypoint_following_local_planner.py b/ROAR/planning_module/local_planner/loop_simple_waypoint_following_local_planner.py
@@ -96,7 +96,7 @@ def run_in_series(self) -> VehicleControl:
                 break
         target_waypoint = self.way_points_queue[self._curr_waypoint_index]
         control: VehicleControl = self.controller.run_in_series(next_waypoint=target_waypoint)
-        self.logger.debug(f"control -> {control} | next waypoint -> {target_waypoint.location}")
+        # self.logger.debug(f"control -> {control} | next waypoint -> {target_waypoint.location}")
         return control
 
     def set_closeness_threhold(self, config: dict):

diff --git a/ROAR_Gym b/ROAR_Gym
diff --git a/ROAR_Jetson b/ROAR_Jetson
diff --git a/ROAR_Sim b/ROAR_Sim
diff --git a/runner_sim.py b/runner_sim.py
@@ -20,8 +20,8 @@ def main():
                                npc_agent_class=PurePursuitAgent)
     try:
         my_vehicle = carla_runner.set_carla_world()
-        agent = RecordingAgent(vehicle=my_vehicle, agent_settings=agent_config)
-        carla_runner.start_game_loop(agent=agent, use_manual_control=False)
+        agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config)
+        carla_runner.start_game_loop(agent=agent, use_manual_control=True)
     except Exception as e:
         logging.error(f"Something bad happened during initialization: {e}")
         carla_runner.on_finish()
+20 −0		ROAR_Gym/__init__.py
+5 −0		ROAR_Gym/envs/__init__.py
+53 −0		ROAR_Gym/envs/depth_e2e_env.py
+147 −0		ROAR_Gym/envs/local_planner_env.py
+128 −0		ROAR_Gym/envs/local_planner_env_1.py
+85 −0		ROAR_Gym/envs/occu_debug.py
+118 −0		ROAR_Gym/envs/occu_map_e2e_env.py
+24 −9		ROAR_Gym/envs/roar_env.py
+49 −32		ROAR_Gym/envs/roar_pid_env.py
+2 −2		configurations/agent_configuration.json
+4 −3		configurations/carla_configuration.json
+7 −0		configurations/simple_waypoint_local_planner_config.json
+78 −0		runner_depth_e2e_env.py
+80 −0		runner_local_planner_env.py
+74 −0		runner_local_planner_env_1.py
+73 −0		runner_occu_map_debug_env.py
+89 −0		runner_occu_map_e2e_a2c_env.py
+79 −0		runner_occu_map_e2e_env.py
+9 −23		runner_roar_pid_env.py
+0 −48		test.py
+28 −0		utilities.py
+29 −59		Arduino/ROAR_node/roar_node_michael/roar_node_michael.ino
+1 −1		arduino_cmd_sender.py
+2 −2		camera_d_t.py
+2 −2		configurations/pid_config.json
+1 −4		configurations/simple_waypoint_local_planner_config.json
+0 −16		data/RFS_Track.txt
+31 −18		carla_client/carla_runner.py
+13 −10		carla_client/util/hud.py
+1 −1		carla_client/util/sensors.py
+3 −4		carla_client/util/world.py
+1 −1		configurations/agent_configuration.json
+1 −1		configurations/carla_version.txt
+2 −3		configurations/configuration.json
+3 −3		configurations/configuration.py