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komutlar.sh
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komutlar.sh
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# Sim baslat
roslaunch envsim visionenv_sim.launch render:=True
# Using the GUI, press Arm & Start to take off.
# Evaluation
python evaluation_node.py
# Kontrol komutlari uretecek olan kodu calistir
cd envtest/ros
python run_competition.py [--vision_based]
python run_competition.py --ppo_path=/home/gazi13/catkin_ws_agile/src/agile_flight/envtest/python/saved/PPO_1
# Sistem bu mesajı almadan kontrol komutlarini dinlemez - START komutu gibi
rostopic pub /kingfisher/start_navigation std_msgs/Empty "{}" -1
# Bütün bu adımları otomatik yapması icinde bir bash yazmislar
launch_evaluation.bash N
# Sim ortamını resetlemek için
rostopic pub /kingfisher/dodgeros_pilot/reset_sim std_msgs/Empty "{}"
--------------------------------------------------------
# TRAIN
cd /home/gazi13/catkin_ws_agile/src/agile_flight/envtest/
#python3 -m python.run_vision_ppo --render 0 --train 1
python3 -m python.run_agile_ppo --render 0 --train 1
# INFERENCE
# Benim denediğim komut
roslaunch envsim visionenv_sim.launch render:=True
cd /home/gazi13/catkin_ws_agile/src/agile_flight/envtest/ros
cd /home/gazi13/catkin_ws_agile/src/agile_flight/envtest/
python run_competition.py --ppo_path=/home/gazi13/catkin_ws_agile/src/agile_flight/envtest/python/saved/PPO_20
rostopic pub /kingfisher/start_navigation std_msgs/Empty "{}" -1
rostopic pub /kingfisher/dodgeros_pilot/reset_sim std_msgs/Empty "{}"
# Dökümantasyon içerisindeki komut - trial_num kacinci egitim oldugu - iter de iterasyon numarasi
python3 -m python.run_vision_ppo --render 0 --train 0 --trial trial_num --iter iter_num
python3 -m python.run_vision_ppo --render 1 --train 0 --trial 00 --iter 500
cd /home/gazi13/catkin_ws_agile/src/agile_flight/envtest/
# python3 -m python.run_vision_ppo --render 1 --train 0 --trial 06 --iter 2000
python3 -m python.run_agile_ppo --render 1 --train 0 --trial 61 --iter 1700
python3 -m python.run_agile_ppo --render 1 --train 0 --trial 67 --iter 150
# python3 -m python.run_vision_ppo --render 1 --train 0 --trial 20 --iter 800
----------------------------------------
# Inference FAST
python3 -m python.run_vision_ppo --render 1 --train 0 --trial 38 --iter 550 // bu komut ile run_competition farkli sonuç veriyor !!!!
rostopic pub /kingfisher/start_navigation std_msgs/Empty "{}" -1
rostopic pub /kingfisher/dodgeros_pilot/reset_sim std_msgs/Empty "{}"
---------------
tensorboard --logdir=./
------------------------------------ AGILE ENVIRONMEN ------------------------------------
cd /home/gazi13/catkin_ws_agile/src/agile_flight/envtest/
python3 -m python.run_agile_ppo --render 0 --train 1