search

PIC4SeR / PIC4rl_gym

This is the official repository of the PIC4rl-gym presented in the paper https://ieeexplore.ieee.org/abstract/document/10193996 (Accepted at ICCCR 2023).
https://ieeexplore.ieee.org/abstract/document/10193996
39 stars 5 forks source link

Can this be used with ROS2 humble? #1

Open Buddies-as-you-know opened 1 year ago

Buddies-as-you-know commented 1 year ago

Can this be used with ROS2 humble? I am currently using Humble, is it possible to use it?

AndreaEirale commented 1 year ago

Hi! We have never tried it on Humble, yet. The "ROS2 part" should work without any problem on Humble just like on Foxy. Our only concern is about the library we use for the "Training part" (TF2RL) which, as you know, is not supported anymore, and is not guaranteed to work on Ubuntu 22.04 (where Humble is the corresponding ROS2 version).

We are working on a port to other ROS2 and Ubuntu versions employing TFAgents instead of TF2RL, but unfortunately this will not be released anytime soon.

EDIT: I have to correct myself, actually this version seems to work on Humble! Just make sure to install the correct versions of Tensorflow and numpy compatible with the TF2RL library!

stefanosPap commented 2 months ago

Hi @AndreaEirale !

Which versions of tf2rl, tensorflow_probability and tensorflow did you use? I tried various combinations but I still have compatibility issues. If you can provide a requirements.txt file I would be thankful!

AndreaEirale commented 2 weeks ago

Hi @stefanosPap, and sorry for the delay!

As you can see in the README, the system is tested and working with TensorFlow 2.6. - 2.10. and Keras 2.6. - 2.10.. As for tf2rl, we used the last version available, together with the the version you can find in the repo!