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mit-acl / cadrl_ros

ROS package for dynamic obstacle avoidance for ground robots trained with deep RL
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NNActions and PlannerMode messages #6

Closed Lapjeskater closed 4 years ago

Lapjeskater commented 5 years ago

Hey Michael,

I'm trying to run the rosnode, but I get an error that the NNActions and PlannerMode messages do not exists. I also couldn't find them in the ford_msgs repo. Do I strictly need the messages or can I remove them from the code?

Kind regards, Ewoud

mfe7 commented 5 years ago

Hi @Lapjeskater - those messages are defined in the dev branch of ford_msgs if you do want to try to use them. However, NNActions doesn't have any purpose so it can be removed -- right now it sets self.feasible_actions which is never used elsewhere. PlannerMode is supposed to allow an external state machine to switch between various planners, but for the sake of this code you could just set self.operation_mode upon initializing the node to the NN mode. Let me know if that's unclear. I will try to update/remove these from this version of the code at some point.