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ROBOTIS-GIT / turtlebot3_machine_learning

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How to add a moving obstacle in world file? #17

Closed zengjie617789 closed 5 years ago

zengjie617789 commented 5 years ago

I test the env stage3 successfully when i run turtlebot3_dqn_stage_3 launch file firstly. However when I tried to build a moving obstacle world file in gym_gazebo, it failed. here is what i tried：

  1. gazebo random velocity plugin; http://gazebosim.org/tutorials?tut=plugins_random_velocity&cat= but it cannot detect the boundary
  2. gazebo actor model; http://gazebosim.org/tutorials?tut=actor&cat=build_robot i tried the two way of adding animated model,however it seem like the model doesnot have collision property i did my best to make the obstacle move and i am exhausted while i googled many times anyone who can help me ? thank you in advance
kijongGil commented 5 years ago

Hi @zengjie617789 :) I understand that you spend many time for moving obstacle in gazebo. I also tried several methods and then I found using ModelState topic. I'm not sure It is best way. You can see how to use this topic in our package in this code.

Thanks, Gilbert

zengjie617789 commented 5 years ago

@kijongGil thanks, I tried this method ,but it seems only work in a situation that launch the env file and dqn file separately. However,the gymgazebo algorithm files is combined with the env file. I also tried to run the moving python file alone ,but the obstacle didnot move at all . Moreover ,when i run the command of "rostopic echo /gazebo/model_states" ,it cannot output anything.

JaehyunShim commented 5 years ago

@zengjie617789

Please ask the question at the link below. (https://github.com/erlerobot/gym-gazebo)

Please open a new issue If you have any other questions while following the tutorial on our e-manual. Ryan