Intelligent-Systems-Project

Start Intelligent Systems Project

If you don't remove preproject folders, you would have some conflicts. Also, we recommend delete /devel and /build folders before compiling catkin workspace.

$ cd ~/catkin_ws/src
$ git clone https://github.com/rllab-snu/Intelligent-Systems-2023.git
$ cd ~/catkin_ws && catkin_make

Copy the skeleton code to your repository and implement TODO parts. {YOUR_TEAM_REPOSITORY} should be named IS_{TEAM_NAME}.

$ cd {DIR_sim2real}/project
$ git clone {YOUR_TEAM_REPOSITORY}
$ cd IS_{TEAM_NAME} && mkdir project
$ cp ../RLLAB/project/RLLAB_project1.py project/{TEAM_NAME}_project1.py

Please change TEAM_NAME in CMakeLists.txt and recompile the packages.

$ cd {DIR_sim2real}
$ vi CMakeLists.txt  # then change the value of TEAM_NAME
$ cd ~/catkin_ws && catkin_make

Evaluation your code (Project1)

$ roslaunch sim2real base_p1.launch

Open another terminal, then execute the below command.

$ rosrun sim2real {TEAM_NAME}_project1.py

Finally, you open one more terminal, and publish topic manually.

$ rostopic pub /query sim2real/Query "{id: '0', trial: 0, name: '{TEAM_NAME}', world: 'track_1', exit: false}"

Evaluation your code (Project2)

$ roslaunch sim2real base_p1.launch

Open another terminal, then execute the below command.

$ rosrun sim2real {TEAM_NAME}_project2.py

Finally, you open one more terminal, and publish topic manually.

$ rostopic pub /query sim2real/Query "{id: '0', trial: 0, name: '{TEAM_NAME}', world: 'track_1', exit: false}"

Evaluation your code (Project3)

$ roslaunch sim2real base_p3.launch

Open another terminal, then execute the below command.

$ rosrun sim2real {TEAM_NAME}_project3.py

Finally, you open one more terminal, and publish topic manually.

$ rostopic pub /query sim2real/Query "{id: '0', trial: 0, name: '{TEAM_NAME}', world: 'track_1', exit: false}"

Map Building for Project 3

For basic map building instructions, please refer to the map building tutorial uploaded on ETL.

If you wish to create your own project 3 world with your created maps, you can make it by typing the following command.

$ roscd sim2real/scripts
$ python eval_generator.py

If you have any questions, please contact to TAs or use repository issue.