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config_tentabot_server_turtlebot3.yaml
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config_tentabot_server_turtlebot3.yaml
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### Tentabot Server Parameters
## Robot Parameters
local_map_msg: "/octomap_tentabot"
# NOTE: Expected to be available in ROS paremeter server
# by config files task_nav, map_utility
#world_frame_name: ""
#n_goal: 1
#goal1_x: 0.0
#goal1_y: 0.0
#goal1_z: 1.0
#goal1_yaw: 0.0
#world_name: ""
#robot_name: ""
#robot_frame_name: ""
#robot_bbx_x_min: 0.0
#robot_bbx_x_max: 0.0
#robot_bbx_y_min: 0.0
#robot_bbx_y_max: 0.0
#robot_bbx_z_min: 0.0
#robot_bbx_z_max: 0.0
#robot_max_lat_velo: 0.0
#robot_max_lat_acc: 0.0
#robot_max_yaw_velo: 0.0
#robot_max_yaw_acc: 0.0
#robot_odometry_msg: "/turtlebot3_0/odom"
#robot_pose_control_msg: ""
#robot_velo_control_msg: "/turtlebot3_0/cmd_vel"
## Process Parameters
visu_flag: true
time_limit: 180
dt: 0.1
goal_close_threshold: 0.25
ground_collision_flag: false
ground_collision_threshold: 0.1
heuristic_data_path: "dataset/heuristic/turtlebot3/"
drl_service_flag: false
## Trajectory Sampling Parameters
trajectory_sampling_dataset_path: "dataset/trajectory_sampling/turtlebot3/"
tlen: 10
tsamp_cnt: 20
#trajectory_gen_type: "geometric"
tyaw: 0.0
tpitch: 0.0
tyaw_cnt: 1
tpitch_cnt: 1
trajectory_gen_type: "kinematic"
ttime: 8
lat_velo_samp_cnt: 5
ang_velo_samp_cnt: 21
## Offline Tuning Parameters
trajectory_data_path: "dataset/trajectory_sampling/turtlebot3/20220323_142544/"
max_occupancy_belief_value: 100
sweight_max: 1
sweight_scale: 10
egrid_vdim: 0.1
pdist_x_min: -0.25
pdist_x_max: 0.25
pdist_y_min: -0.25
pdist_y_max: 0.25
pdist_z_min: -0.0
pdist_z_max: 0.65
sdist_x_min: -0.5
sdist_x_max: 0.5
sdist_y_min: -0.5
sdist_y_max: 0.5
sdist_z_min: -0.0
sdist_z_max: 0.9
## Online tuning Parameters
tbin_obs_cnt_threshold: 1
crash_dist_scale: 0.2
occupancy_scale: 3
close_scale: 5
smooth_scale: 1
#### DRL Parameters
#### NOTE: Be sure that -> drl_service_flag: true
### Common Parameters for Training and Testing
mode: "testing"
drl_data_path: "dataset/drl/testing/turtlebot3/"
#initial_training_path: ""
#initial_training_path: "20220220_001614_PPO_tentabot/"
initial_training_path: "dataset/benchmark/2022_IROS/training_data/IROS22_Tentabot_1DCNN_FC/20220228_222559_PPO_tentabot/"
### DRL-Training Parameters
deep_learning_algorithm: "PPO"
motion_planning_algorithm: "tentabot_drl"
# Options:
# laser_FC -> FC(laser_data + target + prev_action)
# laser_image_2DCNN_FC -> 2DCNN(Channel: time, Height: image, Width: image) + FC(laser_data + target + prev_action)
# laser_rings_2DCNN_FC -> 2DCNN(Channel: time, Height: image, Width: image) + FC(laser_data + target + prev_action)
# laser_1DCNN_FC -> 1DCNN(Channel: time, Length: laser_data) + FC(CNN_output + target + prev_action)
# Tentabot_FC -> FC(occupancy_set + target + prev_action)
# Tentabot_1DCNN_FC -> 1DCNN(Channel: time, Length: occupancy_set) + FC(CNN_output + target + prev_action), if cit_flag = True
# Tentabot_1DCNN_FC -> 1DCNN(Channel: occupancy_set, Length: time) + FC(CNN_output + target + prev_action), if cit_flag = False
# Tentabot_2DCNN_FC -> 2DCNN(Channel: 1, Height: occupancy_set, Width: time) + FC(CNN_output + target + prev_action)
observation_space_type: "Tentabot_FC"
# Options:
# TurtleBot3tentabot_drl-v0
# TurtleBot3Realtentabot_drl-v0
task_and_robot_environment_name: "TurtleBot3tentabot_drl-v00"
learning_rate: 0.0002
n_steps: 1000
batch_size: 50
ent_coef: 0.001
training_timesteps: 2000
max_episode_steps: 2000
training_checkpoint_freq: 1000
plot_title: "Learning Curve"
plot_moving_average_window_size_timesteps: 20
plot_moving_average_window_size_episodes: 5
## Sensors
laser_size_downsampled: 90
laser_normalize_flag: True
laser_error_threshold: 0.1
laser_image_width: 64
laser_image_height: 64
## Algorithm: Tentabot-DRL Parameters
obs_min_range: 0.25
n_obs_stack: 5
n_skip_obs_stack: 5
cit_flag: True # cit = channel is time
n_wp: 8
## Reward:
reward_terminal_success: 8
reward_step_scale: 0.5
penalty_terminal_fail: -5
penalty_cumulative_step: -5
### DRL-Testing Parameters
max_testing_episode_timesteps: 2000
max_testing_episodes: 2
goal_status_msg: "/turtlebot3_0/goal_reaching_status"