- main branch : multiagent
- PPO_R : origin observation ( lidar, goal, speed ) + radius, lidar data ( lidar_(t-2), lidar_(t-1), lidar_(t)
- PPO_R_lidar : PPO_R_new + lidar data ( lidar_(t-10), lidar_(t-5), lidar_(t)
- PPO_R_new : PPO_R + collision lidar add
- PPO_no_update : Do not policy update (Purpose to use as a wander)
- wander : wander code, collision avoidance used scan data
- wander_no_avoidance : wander code
- worlds : stage model file
Stage & stageros & ppo train py
sudo apt-get install ros-kinetic-stage
cd /catkin_ws/src
git clone https://github.com/Geonhee-LEE/rl-collision-avoidance
git clone https://github.com/CzJaewan/RLCA_trainning
cd /catkin_ws
catkin_make
cd /catkin_ws/src/rl-collision-avoidance
git branch stageros_w
roscore
rosrun stage_ros_add_pose_and_crash stageros_w -u -n 6 /home/nscl/rl_ws/src/RLCA_trainning/worlds/servingbot_single_agent_world
mpiexec -np 1 python ppo_stage.py