daffan / ros_jackal Goto Github PK

Issue Description:
I am trying to pull a Singularity image from the URL library://zifanxu/ros_jackal_image/image:latest, but I am encountering issues. When I search for this image using Singularity, it appears not to be available for the amd64 architecture.
thank you,

R.

hello,what the BUFFER_PATH in the code means? how to set it?

Hi, I found that there are configuration files for "CNN-1", "GRU-1", and "transformer-1" in your configs folder, but there is no relevant test data in your paper. Is there any inherent reason why "CNN-1", "GRU-1", and "transformer-1" cannot be used?

Hi. Unfortunately, I had a problem installing the requirements.
When installing the Transformers library version 4.11, I encounter the following problem:
ERROR: Failed building wheel for tokenizers
Failed to build tokenizers
ERROR: Could not build wheels for tokenizers, which is required to install pyproject.toml-based projects

Hello, Dr. Xu, when we tried to train TD3 using the applr_working branch of your code, we found that the training configurations were missing. There is no td3/config.yaml file under the td3 file, so I would be grateful if you could provide it generously.

Hi! I'm trying to reproduce your work with a Docker environment.

I'm sure that I set the workspace and configurations correctly.

But when I try the command below,

./singularity_run.sh ./local_buffer/nav_benchmark.sif python3 test_env.py

I get the following error:

INFO:    Converting SIF file to temporary sandbox...
FATAL:   while handling ./local_buffer/nav_benchmark.sif: while extracting image: root filesystem extraction failed: extract command failed: ERROR  : Failed to create user namespace: user namespace requires to set /proc/sys/kernel/unprivileged_userns_clone to 1
: exit status 1

How can I fix this FATAL error?

Thank you for your attention!

I tried to build the image using the Singularityfile.def file, producing a nav_competetion_image.sif, but with the command ./singularity_run.sh ./local_buffer/nav_competition_image.sif python train.py --config configs/e2e_default_TD3.yaml , the printed info is as followed:

(base) jidan@jidan:~/AVWorkSpace/jackal_ws/src/ros_jackal$ ./singularity_run.sh ./nav_competition_image.sif python train.py --config configs/e2e_default_TD3.yaml
/venv/lib/python3.6/site-packages/gym/core.py:27: UserWarning: WARN: Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+
"Gym minimally supports python 3.6 as the python foundation not longer supports the version, please update your version to 3.7+"

Loading the configuration from configs/e2e_default_TD3.yaml
Creating the environments
/venv/lib/python3.6/site-packages/gym/spaces/box.py:127: UserWarning: WARN: Box bound precision lowered by casting to float32
logger.warn(f"Box bound precision lowered by casting to {self.dtype}")
Initializing the policy
>>>> Running on device cuda:0
/venv/lib/python3.6/site-packages/torch/cuda/init.py:143: UserWarning:
NVIDIA GeForce RTX 3050 Ti Laptop GPU with CUDA capability sm_86 is not compatible with the current PyTorch installation.
The current PyTorch install supports CUDA capabilities sm_37 sm_50 sm_60 sm_70.
If you want to use the NVIDIA GeForce RTX 3050 Ti Laptop GPU GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/

warnings.warn(incompatible_device_warn.format(device_name, capability, " ".join(arch_list), device_name))

Start training
>>>> Saving to logging/motion_control_continuous_laser-v0/TD3/2024_03_19_12_40/9933
>>>> initialized logging
>>>> Pre-collect experience
multiprocessing.pool.RemoteTraceback:
"""
Traceback (most recent call last):
File "/usr/lib/python3.6/multiprocessing/pool.py", line 119, in worker
result = (True, func(*args, **kwds))
File "/usr/lib/python3.6/multiprocessing/pool.py", line 44, in mapstar
return list(map(*args))
File "/jackal_ws/src/ros_jackal/rl_algos/collector.py", line 27, in run_actor_in_container
options=["-i", "-n", "--network=none", "-p"], nv=True
File "/venv/lib/python3.6/site-packages/spython/main/execute.py", line 116, in execute
environ=environ,
File "/venv/lib/python3.6/site-packages/spython/main/base/command.py", line 142, in run_command
background=background,
File "/venv/lib/python3.6/site-packages/spython/utils/terminal.py", line 197, in run_command
process = subprocess.Popen(cmd, stderr=subprocess.PIPE, stdout=stdout, env=environ)
File "/usr/lib/python3.6/subprocess.py", line 729, in init
restore_signals, start_new_session)
File "/usr/lib/python3.6/subprocess.py", line 1364, in _execute_child
raise child_exception_type(errno_num, err_msg, err_filename)
FileNotFoundError: [Errno 2] No such file or directory: 'singularity': 'singularity'
"""

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "train.py", line 311, in
train(env, policy, replay_buffer, config)
File "train.py", line 221, in train
collector.collect(n_steps=training_config['pre_collect'])
File "/jackal_ws/src/ros_jackal/rl_algos/collector.py", line 178, in collect
output = p.map(run_actor_in_container, self.ids)
File "/usr/lib/python3.6/multiprocessing/pool.py", line 266, in map
return self._map_async(func, iterable, mapstar, chunksize).get()
File "/usr/lib/python3.6/multiprocessing/pool.py", line 644, in get
raise self._value
FileNotFoundError: [Errno 2] No such file or directory: 'singularity': 'singularity'

I am new to singularity container, can someone gives me a hint? I also want to know the difference between the image built by the Singularityfile.def and the image pulled using the command, and how they coordinate. Thanks a lot.

code in collector.py (line 58、59、68），should not "obs = obs_new"(line 59) be placed after "self.buffer.add"(line 68)? Otherwise, buffer.add(obs_new, act, obs_new, rew, done, world, collision_reward), not buffer.add(obs, act, obs_new, rew, done, world, collision_reward)

Hi, I'd like to know how long it takes to achieve the results mentioned in your article with the yaml under the configs folder?

Because the singularity image is not pulled from #5 (comment),

I changed "config/e2e_default_TD3.yaml" file to this

env_config:
  use_container: False
  world_name: "BARN/world_450.world"
  gui: True

It creates walls but no stationary or moving boxes or walls.

How can I run the benchmark environment without Singularity container?

Hi, thanks for sharing this great work
I have a question , how can i move the objects (humen , obstackes..) in gazebo environement ?

Project name is zifanxu not zifan in the singularity image pull step