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PierreExeter / cartpole3d_ros

The CartPole3D environment solved using reinforcement learning.
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Simulation workspace is not Found. #1

Open ZZWang21 opened 1 year ago

ZZWang21 commented 1 year ago

Hi @PierreExeter

I am trying to reproduce your example in ROS Melodic, but after I launched the launch file, I got errors like this:

"Traceback (most recent call last): File "/home/walter/catkin_ws_conda/src/cartpole3d_ros/scripts/cartpole3d_random.py", line 9, in env = StartOpenAI_ROS_Environment(environment_name) File "/home/walter/catkin_ws_conda/src/openai_ros/openai_ros/src/openai_ros/openai_ros_common.py", line 31, in StartOpenAI_ROS_Environment env = gym.make(task_and_robot_environment_name) File "/home/walter/miniconda3/envs/Robot_ur5e_ws/lib/python3.7/site-packages/gym/envs/registration.py", line 235, in make return registry.make(id, kwargs) File "/home/walter/miniconda3/envs/Robot_ur5e_ws/lib/python3.7/site-packages/gym/envs/registration.py", line 129, in make env = spec.make(kwargs) File "/home/walter/miniconda3/envs/Robot_ur5e_ws/lib/python3.7/site-packages/gym/envs/registration.py", line 90, in make env = cls(**_kwargs) File "/home/walter/catkin_ws_conda/src/openai_ros/openai_ros/src/openai_ros/task_envs/cartpole_stay_up/stay_up.py", line 19, in init "/src;cd " + ros_ws_abspath + ";catkin_make" AssertionError: The Simulation ROS Workspace path ~/simulation_ws DOESNT exist, execute: mkdir -p ~/simulation_ws/src;cd ~/simulation_ws;catkin_make "

But I have the simulation_ws .

Why does this happen? How to solve it? Thanks.

PierreExeter commented 1 year ago

Hi @ZZWang21

Sorry for the late reply.

Did you try to run catkin_make in the "~/simulation_ws" directory, as suggested in the error message?

ZZWang21 commented 1 year ago

Hi @PierreExeter

I changed the "~/simulation_ws" to my actual simulation workspace directory, it works. I did according to your post, but it seems like I donot need to "mkdir -p ~/simluation_ws/src".

I am not sure why.

Can I ask have you done any openai_ros project except for cartpole? Any customised project? Do you have any experience to share? I am planning to make a openai_ros project with UR5e robot.

Thanks.

PierreExeter commented 1 year ago

I'm glad you could make it work.

I think I tried the Turtlebot2 tutorial described on the official page.. I also played with the Kinova Jaco and the Doosan A0912 arm where the agent was a ROS / Gazebo simulation and the algorithm was from the Stable Baseline implementation (so not an openai_ros project). I found openai_ros not so intuitive to apply for custom problems.

ZZWang21 commented 1 year ago

@PierreExeter Thank you for your reply.

According to my knowledge, the "Kinova Jaco" and "Doosan A0912" are not in the example packages. Did you customise them?

And as I understand, the catpole also used the Gazebo simulation+Stable Baseline.

And what is your recommendation of custom problems?

Thanks.