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ROS_MASTER_URI=http://localhost:11311
process[tentabot_server-9]: started with pid [12818]
tentabot_framework_launch:: __main__ -> Launched Tentabot Server!
tentabot_server::main -> world_frame_name: world
[ WARN] [1677553132.884454270]: couldn't register subscriber on topic [/]
tentabot_server::main -> n_goal: 1
Welcome to Tentabot Navigation Simulation! I hope you'll enjoy the experience...
Sorting tentacles by y-axis...
Tentabot::initialize -> Completed!
tentabot_framework_launch:: __main__ -> drl_service_flag: True
tentabot_framework_launch:: __main__ -> mode: training
started roslaunch server http://server-System-Product-Name:40839/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15

NODES
  /
    tentabot_drl_training (tentabot/tentabot_drl_training.py)

ROS_MASTER_URI=http://localhost:11311
process[tentabot_drl_training-10]: started with pid [12837]
tentabot_framework_launch:: __main__ -> Launched Tentabot-DRL: training!
tentabot_drl_training::__main__ -> mode: training
tentabot_drl_training::__main__ -> deep_learning_algorithm: PPO
tentabot_drl_training::__main__ -> motion_planning_algorithm: tentabot_drl
tentabot_drl_training::__main__ -> observation_space_type: Tentabot_1DCNN_FC
tentabot_drl_training::__main__ -> world_name: training_garden_static_1
tentabot_drl_training::__main__ -> task_and_robot_environment_name: TurtleBot3tentabot_drl-v001
tentabot_drl_training::__main__ -> n_robot: 1
tentabot_drl_training::__main__ -> data_path: dataset/drl/testing/turtlebot3/
tentabot_drl_training::__main__ -> learning_rate: 0.0002
tentabot_drl_training::__main__ -> n_steps: 1000
tentabot_drl_training::__main__ -> batch_size: 50
tentabot_drl_training::__main__ -> ent_coef: 0.001
tentabot_drl_training::__main__ -> training_timesteps: 2000
tentabot_drl_training::__main__ -> max_episode_steps: 2000
tentabot_drl_training::__main__ -> initial_training_path: 
tentabot_drl_training::__main__ -> training_checkpoint_freq: 1000
tentabot_drl_training::__main__ -> plot_title: Learning Curve
tentabot_drl_training::__main__ -> plot_moving_average_window_size_timesteps: 20
tentabot_drl_training::__main__ -> plot_moving_average_window_size_episodes: 5
tentabot_drl_training::write_data -> Data is written in /home/server/workspace/tentabot_ws/src/tentabot/dataset/drl/testing/turtlebot3/20230228_105856_PPO_tentabot/training_log.csv
[WARN] [1677553136.405351, 6933.280000]: Env: TurtleBot3tentabot_drl-v001 will be imported
[WARN] [1677553136.406210, 6933.281000]: Something Went wrong in the register
Traceback (most recent call last):
  File "/home/server/workspace/tentabot_ws/src/tentabot/scripts/tentabot_drl/tentabot_drl_training.py", line 194, in <module>
    env = Monitor(env, data_folder_path)
  File "/home/server/python_env/tentabot/lib/python3.8/site-packages/stable_baselines3/common/monitor.py", line 47, in __init__
    header={"t_start": self.t_start, "env_id": env.spec and env.spec.id},
AttributeError: 'NoneType' object has no attribute 'spec'
[tentabot_drl_training-10] process has died [pid 12837, exit code 1, cmd /home/server/workspace/tentabot_ws/src/tentabot/scripts/tentabot_drl/tentabot_drl_training.py __name:=tentabot_drl_training __log:=/home/server/.ros/log/d18d61da-b713-11ed-9a76-d573bd68246a/tentabot_drl_training-10.log].
log file: /home/server/.ros/log/d18d61da-b713-11ed-9a76-d573bd68246a/tentabot_drl_training-10*.log
all processes on machine have died, roslaunch will exit