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Repository: marooncn/navbot
Branch: master
Commit: ea0382441b64
Files: 74
Total size: 16.2 MB
Directory structure:
gitextract_qtg0sezi/
├── LICENSE
├── README.md
├── materials/
│ └── record/
│ ├── E2E_PPO_nav1.txt
│ ├── E2E_PPO_nav2.txt
│ ├── E2E_PPO_rnn_nav1.txt
│ ├── E2E_PPO_rnn_nav2.txt
│ ├── E2E_PPO_rnn_test_nav1.txt
│ ├── E2E_PPO_rnn_test_nav2.txt
│ ├── PPO_nav1.txt
│ ├── PPO_nav2.txt
│ └── config.txt
├── notes.md
├── rl_nav/
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── nav_gazebo.launch
│ │ ├── show_all.launch
│ │ └── spawn_goal.launch
│ ├── package.xml
│ ├── scripts/
│ │ ├── DQN.py
│ │ ├── E2E_DDPG_rnn.py
│ │ ├── E2E_DQN.py
│ │ ├── E2E_PPO.py
│ │ ├── E2E_PPO_rnn.py
│ │ ├── PPO.py
│ │ ├── PPO_remap.py
│ │ ├── PPO_rnn.py
│ │ ├── PPO_rnn_remap.py
│ │ ├── config.py
│ │ ├── env.py
│ │ ├── test.py
│ │ └── worldModels/
│ │ ├── 01_generate_data.py
│ │ ├── 02_train_vae.py
│ │ ├── RNN.py
│ │ ├── VAE.py
│ │ ├── VAE2.py
│ │ ├── __init__.py
│ │ ├── models/
│ │ │ └── vae_weights.h5
│ │ ├── test_rnn.py
│ │ └── test_vae.py
│ └── worlds/
│ ├── goal.urdf
│ ├── maze0.world
│ ├── maze1.world
│ ├── maze2.world
│ ├── maze3.world
│ ├── maze4.world
│ ├── maze5.world
│ ├── maze6.world
│ ├── maze7.world
│ └── maze8.world
├── tools/
│ ├── calculate_SPL.py
│ ├── draw_reward.py
│ └── draw_success_rate.py
└── turtlebot_description/
├── CMakeLists.txt
├── meshes/
│ ├── sensors/
│ │ ├── kinect.dae
│ │ ├── kinect.tga
│ │ └── sensor_pole.dae
│ └── stacks/
│ └── hexagons/
│ ├── plate_bottom.dae
│ ├── plate_middle.dae
│ ├── plate_top.dae
│ ├── pole_bottom.dae
│ ├── pole_kinect.dae
│ ├── pole_middle.dae
│ └── pole_top.dae
├── package.xml
├── readme.md
├── robots/
│ └── kobuki_hexagons_kinect.urdf.xacro
└── urdf/
├── common_properties.urdf.xacro
├── kobuki/
│ ├── common_properties.urdf.xacro
│ ├── kobuki.urdf.xacro
│ └── kobuki_gazebo.urdf.xacro
├── sensors/
│ └── kinect.urdf.xacro
├── stacks/
│ └── hexagons.urdf.xacro
├── turtlebot_common_library.urdf.xacro
├── turtlebot_gazebo.urdf.xacro
└── turtlebot_properties.urdf.xacro
================================================
FILE CONTENTS
================================================
================================================
FILE: LICENSE
================================================
The MIT License (MIT)
Copyright (c) 2019 Liulong Ma
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
================================================
FILE: README.md
================================================
# navbot
It's a collection for mapless robot navigation using RGB image as visual input. It contains the test
environment and motion planners, aiming at realizing all the three levels of mapless navigation:
1. memorizing efficiently;
2. from memorizing to reasoning;
3. more powerful reasoning
The experiment data is in ./materials/record folder.
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/mapless%20motion%20planner.png" align='center' width="600"> <br>
## Environment
<font face="Times New Roman">I built the environment as benchmark for testing the algorithms.</font> <br>
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/environment.PNG" align='center' width="600">
<font face="Times New Roman">It has the following properties:</font>
* Diverse complexity.
* Gym-style Interface.
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/Interface.PNG" align='center' width="500">
* Support ROS.
Quickstart example code to use this benckmark.
import env
maze0 = env.GazeboMaze(maze_id=0, continuous=True)
observation = maze0.reset()
done = False
while not done:
# Stochastic strategy
action = dict()
action['linear_vel'] = np.random.uniform(0, 1)
action['angular_vel'] = np.random.uniform(-1, 1)
observation, done, reward = maze0.execute(action)
print(action, reward)
maze0.close()
## 1. Memorizing
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/E2E_PPO_nav2.gif" align='center' width="500">
### VAE-based planner
#### VAE Structure and Training
The designed VAE strcture is shown in the lower left figure. Train it in maze1 and maze2. The kl_tolerace is set to 0.5 (We stop optimizing for KL loss term once it is lower than some level, rather than letting it go to near zero) and latent dim is 32, thus the total loss is trained as close as possible to 16.
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/vae.png" align='center' width="180"> <img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/VAE_training.png" align='center' width="500"> <br>
The following results are tested in maze3 to verify the ability of generalization.
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/vae_show.png" align='center' width="500">
#### Planner Structure
VAE-based planner & Baseline network structure <br>
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/VAE-DRL.png" align='center' width="300"> <img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/e2e.png" align='center' width="300">
### Performance
1. The proposed trajectory is blue and the baseline is green. <br>
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/memorize_trajectory.PNG" align='center' width="300"> <br>
2. The success rate comparision in maze1. <br>
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/result/maze1_dense_success.png" width="500">
3. Performance comparision <br>
| SPL | Benchmark | Proposed |
|---------|-------------|-----------|
| maze1 | 0.702 | 0.703 |
| maze2 | 0.611 | 0.626 |
That is, the proposed motion planner not only has much better sample-efficience, but also it has better performance. Actually, the shortest path in two mazes are both found by proposed motion planner (26 timesteps in maze1 and 29 time steps in maze2 with acceleration in simulation).
## 2. From Memorizing to Reasoning
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/PPO_rnn_nav2.gif" align='center' width="500">
### Stacked LSTM and network structure
Stacked LSTM <br>
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/stacked%20LSTM.png" width="500"> <br>
network structure <br>
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/images/rnn.png" width="300">
### Result
Success rate in maze1 <br>
<img alt="" src="https://github.com/marooncn/navbot/blob/master/materials/result/maze1_rnn_success.png" width="500">
## Install
#### Ddependencies
tensorflow: 1.5.0 <br>
OS: Ubuntu 16.04 <br>
Python: 2.7 <br>
OpenCV: 3 <br>
ROS: Kinetic <br>
Gazebo: 7 <br>
tensorforce: https://github.com/tensorforce/tensorforce <br>
# install tensorflow-gpu after cudnn and cuda are installed
pip install tensorflow-gpu==1.5.0
# or just use tensorflow-cpu if no Nvidia GPU, it can also work.
pip install tensorflow==1.5.0
# install OpenCV: https://docs.opencv.org/master/d7/d9f/tutorial_linux_install.html
# install ROS: http://wiki.ros.org/kinetic/Installation/Ubuntu
# install Gazebo
sudo apt-get install gazebo7 libgazebo7-dev
# install old version that supports python2 of tensorforce form source
#### Run
sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-turtlebot-*
sudo apt-get remove ros-kinetic-turtlebot-description
sudo apt-get install ros-kinetic-kobuki-description
# change to catkin_ws/src
git clone https://github.com/marooncn/navbot
cd ..
catkin_make
source ./devel/setup.bash
# you can change the configure in config.py
cd src/navbot/rl_nav/scripts
# run the proposed model for memorizing
python PPO.py
# run the proposed model for reasoning
python E2E_PPO_rnn.py
#### Details
1. The default environment is maze1, you need to change maze_id in [nav_gazebo.launch](https://github.com/marooncn/navbot/blob/master/rl_nav/launch/nav_gazebo.launch) and [config.py](https://github.com/marooncn/navbot/blob/master/rl_nav/scripts/config.py) if you want change the environment. <br>
2. To execute [01_generate_data.py](https://github.com/marooncn/navbot/blob/master/rl_nav/scripts/worldModels/01_generate_data.py) to generate data, you need to comment the goal-related code in [nav_gazebo.launch](https://github.com/marooncn/navbot/blob/master/rl_nav/launch/nav_gazebo.launch) and [env.py](https://github.com/marooncn/navbot/blob/master/rl_nav/scripts/env.py). <br>
3. maze1 and maze2 are speeded up 10 times to train, if you want speed up other environments, just change
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
to
<max_step_size>0.01</max_step_size>
<!-- <real_time_factor>1</real_time_factor> -->
in the environment file in [worlds](https://github.com/marooncn/navbot/tree/master/rl_nav/worlds).
4. To reproduce the result, please change the related parameters in [config.py](https://github.com/marooncn/navbot/blob/master/rl_nav/scripts/config.py) according to [config.txt](https://github.com/marooncn/navbot/blob/master/materials/record/config.txt).
5. PPO is not a deterministic policy gradient algorithm, the action at every timestep is sampled according to the distribution. It can be seen as "noise" and it's useful for explorations and generalizations. If you want to use the best strategy after the model is trained, just change 'deterministic = True' in [config.py](https://github.com/marooncn/navbot/blob/master/rl_nav/scripts/config.py) and the performance will be improved.
## Cite
If your find the work is helpful in your research, please cite the following papers:
* [Using RGB Image as Visual Input for Mapless Robot Navigation](https://arxiv.org/ftp/arxiv/papers/1903/1903.09927.pdf)
* [Learning to Navigate in Indoor Environments: from Memorizing to Reasoning](https://arxiv.org/ftp/arxiv/papers/1904/1904.06933.pdf)
## Blog
[Introduction to tensorforce](https://mp.weixin.qq.com/s?__biz=Mzg2MjExNjY5Mg==&mid=2247483685&idx=1&sn=c73822b5b719db40648700d4242499e3&chksm=ce0d8f1ef97a06082fd9032b42d8699bc19adce339f2435f5b6a61c0ea9beb1cfc926509a8e0&mpshare=1&scene=1&srcid=&pass_ticket=9Mwfi8nrJduWesFYZOvfaN1uXqSrd%2B2CuQl%2FzqbUNmBAfv%2Bx%2BxgJyw8xSQfYkcsl#rd)(Chinese) <br>
[Introduction to this work](https://mp.weixin.qq.com/s?__biz=Mzg2MjExNjY5Mg==&mid=2247483714&idx=1&sn=449c6c1b00272d31b9093e8ae32e5ca5&chksm=ce0d8f79f97a066fcc5929cdbd0fc83ce8412eaf9d97a5c51ed16799d7e8a401027dc3bb6486&mpshare=1&scene=1&srcid=&pass_ticket=9Mwfi8nrJduWesFYZOvfaN1uXqSrd%2B2CuQl%2FzqbUNmBAfv%2Bx%2BxgJyw8xSQfYkcsl#rd)(Chinese) <br>
## Reference
[tensorforce](https://github.com/tensorforce/tensorforce)([blog](https://www.jiqizhixin.com/articles/2017-07-14-7?from=synced&keyword=tensorforce)) <br>
[gym_gazebo](https://github.com/erlerobot/gym-gazebo/blob/master/gym_gazebo/envs/turtlebot/gazebo_circuit2c_turtlebot_camera_nn.py) <br>
[gazebo](http://wiki.ros.org/gazebo) <br>
[roslaunch python API](http://wiki.ros.org/roslaunch/API%20Usage) <br>
[turtlebot_description](https://github.com/turtlebot/turtlebot/tree/kinetic/turtlebot_description) <br>
[kobuki_description](https://github.com/yujinrobot/kobuki/tree/devel/kobuki_description) <br>
[WorldModelsExperiments(official)](https://github.com/hardmaru/WorldModelsExperiments) <br>
[WorldModels(by Applied Data Science)](https://github.com/AppliedDataSciencePartners/WorldModels) <br>
================================================
FILE: materials/record/E2E_PPO_nav1.txt
================================================
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FILE: materials/record/E2E_PPO_nav2.txt
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gitextract_qtg0sezi/
├── LICENSE
├── README.md
├── materials/
│ └── record/
│ ├── E2E_PPO_nav1.txt
│ ├── E2E_PPO_nav2.txt
│ ├── E2E_PPO_rnn_nav1.txt
│ ├── E2E_PPO_rnn_nav2.txt
│ ├── E2E_PPO_rnn_test_nav1.txt
│ ├── E2E_PPO_rnn_test_nav2.txt
│ ├── PPO_nav1.txt
│ ├── PPO_nav2.txt
│ └── config.txt
├── notes.md
├── rl_nav/
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── nav_gazebo.launch
│ │ ├── show_all.launch
│ │ └── spawn_goal.launch
│ ├── package.xml
│ ├── scripts/
│ │ ├── DQN.py
│ │ ├── E2E_DDPG_rnn.py
│ │ ├── E2E_DQN.py
│ │ ├── E2E_PPO.py
│ │ ├── E2E_PPO_rnn.py
│ │ ├── PPO.py
│ │ ├── PPO_remap.py
│ │ ├── PPO_rnn.py
│ │ ├── PPO_rnn_remap.py
│ │ ├── config.py
│ │ ├── env.py
│ │ ├── test.py
│ │ └── worldModels/
│ │ ├── 01_generate_data.py
│ │ ├── 02_train_vae.py
│ │ ├── RNN.py
│ │ ├── VAE.py
│ │ ├── VAE2.py
│ │ ├── __init__.py
│ │ ├── models/
│ │ │ └── vae_weights.h5
│ │ ├── test_rnn.py
│ │ └── test_vae.py
│ └── worlds/
│ ├── goal.urdf
│ ├── maze0.world
│ ├── maze1.world
│ ├── maze2.world
│ ├── maze3.world
│ ├── maze4.world
│ ├── maze5.world
│ ├── maze6.world
│ ├── maze7.world
│ └── maze8.world
├── tools/
│ ├── calculate_SPL.py
│ ├── draw_reward.py
│ └── draw_success_rate.py
└── turtlebot_description/
├── CMakeLists.txt
├── meshes/
│ ├── sensors/
│ │ ├── kinect.dae
│ │ ├── kinect.tga
│ │ └── sensor_pole.dae
│ └── stacks/
│ └── hexagons/
│ ├── plate_bottom.dae
│ ├── plate_middle.dae
│ ├── plate_top.dae
│ ├── pole_bottom.dae
│ ├── pole_kinect.dae
│ ├── pole_middle.dae
│ └── pole_top.dae
├── package.xml
├── readme.md
├── robots/
│ └── kobuki_hexagons_kinect.urdf.xacro
└── urdf/
├── common_properties.urdf.xacro
├── kobuki/
│ ├── common_properties.urdf.xacro
│ ├── kobuki.urdf.xacro
│ └── kobuki_gazebo.urdf.xacro
├── sensors/
│ └── kinect.urdf.xacro
├── stacks/
│ └── hexagons.urdf.xacro
├── turtlebot_common_library.urdf.xacro
├── turtlebot_gazebo.urdf.xacro
└── turtlebot_properties.urdf.xacro
SYMBOL INDEX (59 symbols across 10 files)
FILE: rl_nav/scripts/env.py
class GazeboMaze (line 34) | class GazeboMaze(Environment):
method __init__ (line 38) | def __init__(self, maze_id=0, continuous=continuous):
method __str__ (line 90) | def __str__(self):
method close (line 93) | def close(self):
method seed (line 100) | def seed(self, seed):
method reset (line 111) | def reset(self):
method execute (line 172) | def execute(self, action):
method states (line 281) | def states(self):
method actions (line 295) | def actions(self):
method goal2robot (line 310) | def goal2robot(self, d_x, d_y, theta):
method set_start (line 315) | def set_start(self, x, y, theta):
method set_goal (line 344) | def set_goal(self, x, y):
FILE: rl_nav/scripts/test.py
function set_start (line 33) | def set_start(x, y, theta):
FILE: rl_nav/scripts/worldModels/01_generate_data.py
function main (line 14) | def main(args):
FILE: rl_nav/scripts/worldModels/02_train_vae.py
function main (line 12) | def main(args):
FILE: rl_nav/scripts/worldModels/RNN.py
class LossHistory (line 25) | class LossHistory(Callback):
method __init__ (line 26) | def __init__(self):
method on_train_begin (line 32) | def on_train_begin(self, logs={}):
method on_batch_end (line 35) | def on_batch_end(self, batch, logs={}):
method on_epoch_end (line 41) | def on_epoch_end(self, batch, logs={}):
method loss_plot (line 47) | def loss_plot(self, loss_type):
class RNN (line 66) | class RNN():
method __init__ (line 67) | def __init__(self):
method _build (line 76) | def _build(self):
method set_weights (line 100) | def set_weights(self, filepath):
method train (line 103) | def train(self, rnn_input, rnn_output,):
method plot_loss (line 114) | def plot_loss(self):
method save_weights (line 117) | def save_weights(self, filepath):
method get_output (line 121) | def get_output(self, input_data):
FILE: rl_nav/scripts/worldModels/VAE.py
function sampling (line 36) | def sampling(args):
class LossHistory (line 43) | class LossHistory(Callback):
method __init__ (line 44) | def __init__(self):
method on_train_begin (line 50) | def on_train_begin(self, logs={}):
method on_batch_end (line 53) | def on_batch_end(self, batch, logs={}):
method on_epoch_end (line 59) | def on_epoch_end(self, batch, logs={}):
method loss_plot (line 65) | def loss_plot(self, loss_type):
class VAE (line 84) | class VAE():
method __init__ (line 85) | def __init__(self):
method _build (line 95) | def _build(self):
method set_weights (line 171) | def set_weights(self, filepath):
method train (line 175) | def train(self, data, j=0, i=0):
method plot_loss (line 186) | def plot_loss(self):
method save_weights (line 189) | def save_weights(self, filepath):
method get_vector (line 192) | def get_vector(self, obs_data):
method get_output (line 196) | def get_output(self, input_data):
method generate_rnn_data (line 207) | def generate_rnn_data(self, obs_data, action_data):
FILE: rl_nav/scripts/worldModels/VAE2.py
function sampling (line 35) | def sampling(args):
class VAE (line 41) | class VAE():
method __init__ (line 42) | def __init__(self):
method _build (line 51) | def _build(self):
method set_weights (line 134) | def set_weights(self, filepath):
method train (line 137) | def train(self, data, validation_split=0.0):
method save_weights (line 146) | def save_weights(self, filepath):
method get_vector (line 149) | def get_vector(self, obs_data):
method get_output (line 153) | def get_output(self, obs_data):
method generate_rnn_data (line 158) | def generate_rnn_data(self, obs_data, action_data):
FILE: tools/calculate_SPL.py
function main (line 7) | def main():
FILE: tools/draw_reward.py
function main (line 18) | def main():
FILE: tools/draw_success_rate.py
function main (line 17) | def main():
Condensed preview — 74 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (3,154K chars).
[
{
"path": "LICENSE",
"chars": 1077,
"preview": "The MIT License (MIT)\n\nCopyright (c) 2019 Liulong Ma\n\nPermission is hereby granted, free of charge, to any person obtain"
},
{
"path": "README.md",
"chars": 9272,
"preview": "# navbot\n It's a collection for mapless robot navigation using RGB image as visual input. It contains the test \n e"
},
{
"path": "materials/record/E2E_PPO_nav1.txt",
"chars": 136570,
"preview": "[115.47596913301666, 25, False]\n[8.994252478777824, 9, False]\n[-9.1136486896348, 10, False]\n[3.262886654290625, 10, Fals"
},
{
"path": "materials/record/E2E_PPO_nav2.txt",
"chars": 160190,
"preview": "[66.43219709121827, 22, False]\n[-44.37282474391009, 17, False]\n[-79.19177363774209, 7, False]\n[-27.223376645732387, 11, "
},
{
"path": "materials/record/E2E_PPO_rnn_nav1.txt",
"chars": 172270,
"preview": "[-25.732800388865662, 39, False]\n[41.67998091872751, 18, False]\n[13.947687251178415, 14, False]\n[-105.2254030890567, 47,"
},
{
"path": "materials/record/E2E_PPO_rnn_nav2.txt",
"chars": 904845,
"preview": "[-88.19767094171779, 16, False]\n[-104.67065310661448, 19, False]\n[-91.31463729745658, 6, False]\n[-52.861001817253964, 8,"
},
{
"path": "materials/record/E2E_PPO_rnn_test_nav1.txt",
"chars": 90319,
"preview": "[-64.47631056048098, 13, False]\n[15.593711354456744, 9, False]\n[79.79688942868506, 28, False]\n[-43.32589320804286, 10, F"
},
{
"path": "materials/record/E2E_PPO_rnn_test_nav2.txt",
"chars": 178675,
"preview": "[-61.072302400098636, 16, False]\n[69.68729017538875, 20, False]\n[-9.26954067000485, 26, False]\n[76.06426807562299, 28, F"
},
{
"path": "materials/record/PPO_nav1.txt",
"chars": 33269,
"preview": "[10.730877678213503, 8, False]\n[-39.77448834506966, 8, False]\n[-0.6628632929491118, 9, False]\n[15.277142797935042, 8, Fa"
},
{
"path": "materials/record/PPO_nav2.txt",
"chars": 58480,
"preview": "[-30.311401849798592, 18, False]\n[-70.8159264200351, 10, False]\n[-78.58021480962219, 6, False]\n[-80.28801557851017, 7, F"
},
{
"path": "materials/record/config.txt",
"chars": 2351,
"preview": "################################## parameters of task 1: memorizing ##################################\n# reward paramete"
},
{
"path": "notes.md",
"chars": 4802,
"preview": "### Basics\n#### RL\nMy paper reading [notes](https://github.com/marooncn/learning_note/blob/master/paper%20reading/Reinfo"
},
{
"path": "rl_nav/CMakeLists.txt",
"chars": 6767,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(rl_nav)\n\n## Compile as C++11, supported in ROS Kinetic and newer\n# add_com"
},
{
"path": "rl_nav/launch/nav_gazebo.launch",
"chars": 2287,
"preview": "<launch>\n\n <arg name=\"maze_id\" default=\"1\" />\n\n <!-- 设置launch文件参数 -->\n <arg name=\"world_name\" value=\"$(find rl_nav)/w"
},
{
"path": "rl_nav/launch/show_all.launch",
"chars": 2425,
"preview": "<launch>\n\n <arg name=\"maze_id\" default=\"0\" />\n\n <!-- 设置launch文件参数 -->\n <arg name=\"world_name\" value=\"$(find rl_nav)/w"
},
{
"path": "rl_nav/launch/spawn_goal.launch",
"chars": 828,
"preview": "<launch>\n <!-- 设置launch文件参数 -->\n <arg name=\"paused\" default=\"false\"/>\n <arg name=\"use_sim_time\" default=\"true\" />\n <"
},
{
"path": "rl_nav/package.xml",
"chars": 2485,
"preview": "<?xml version=\"1.0\"?>\n<package format=\"2\">\n <name>rl_nav</name>\n <version>0.0.0</version>\n <description>The rl_nav pa"
},
{
"path": "rl_nav/scripts/DQN.py",
"chars": 3688,
"preview": "from tensorforce.agents import DQNAgent\nimport os\nimport itertools\n\nimport config\nimport env\nimport worldModels.VAE\n\nmaz"
},
{
"path": "rl_nav/scripts/E2E_DDPG_rnn.py",
"chars": 8177,
"preview": "from tensorforce.agents import DDPGAgent\nimport os\nimport env\nimport config\n\n# os.environ['TF_CPP_MIN_LOG_LEVEL'] = '2'\n"
},
{
"path": "rl_nav/scripts/E2E_DQN.py",
"chars": 4940,
"preview": "from tensorforce.agents import DQNAgent\nimport os\nimport env\nimport config\n\nos.environ['TF_CPP_MIN_LOG_LEVEL'] = '2'\n\nma"
},
{
"path": "rl_nav/scripts/E2E_PPO.py",
"chars": 4467,
"preview": "from tensorforce.agents import PPOAgent\nimport os\nimport env\nimport config\n\n# os.environ['TF_CPP_MIN_LOG_LEVEL'] = '2'\nm"
},
{
"path": "rl_nav/scripts/E2E_PPO_rnn.py",
"chars": 6978,
"preview": "from tensorforce.agents import PPOAgent\nimport os\nimport env\nimport config\n\n# os.environ['TF_CPP_MIN_LOG_LEVEL'] = '2'\nm"
},
{
"path": "rl_nav/scripts/PPO.py",
"chars": 4374,
"preview": "from tensorforce.agents import PPOAgent\n\nimport os\nimport itertools\n\nimport config\nimport env\nimport worldModels.VAE\n\nos"
},
{
"path": "rl_nav/scripts/PPO_remap.py",
"chars": 4286,
"preview": "from tensorforce.agents import PPOAgent\n\nimport os\nimport itertools\n\nimport config\nimport env\nimport worldModels.VAE\n\nos"
},
{
"path": "rl_nav/scripts/PPO_rnn.py",
"chars": 7333,
"preview": "from tensorforce.agents import PPOAgent\n\nimport os\nimport itertools\n\nimport config\nimport env\nimport worldModels.VAE\n\nos"
},
{
"path": "rl_nav/scripts/PPO_rnn_remap.py",
"chars": 6969,
"preview": "from tensorforce.agents import PPOAgent\n\nimport os\nimport itertools\n\nimport config\nimport env\nimport worldModels.VAE\n\nos"
},
{
"path": "rl_nav/scripts/config.py",
"chars": 2119,
"preview": "import rospkg\npath = rospkg.RosPack().get_path('rl_nav')\n\n# Environment related\nmaze_id = 1\ndeterministic = False\ncontin"
},
{
"path": "rl_nav/scripts/env.py",
"chars": 13544,
"preview": "from __future__ import absolute_import\nfrom __future__ import print_function\n\nimport rospy\nimport tf\nimport roslaunch\nim"
},
{
"path": "rl_nav/scripts/test.py",
"chars": 4987,
"preview": "import rospy\nimport tf\nimport roslaunch\nfrom geometry_msgs.msg import Twist\nfrom std_srvs.srv import Empty\nfrom sensor_m"
},
{
"path": "rl_nav/scripts/worldModels/01_generate_data.py",
"chars": 2475,
"preview": "import os\nimport sys\nimport argparse\nimport numpy as np\n\nsys.path.append(\"..\")\nimport env\n\ndir_name = 'record'\nif not os"
},
{
"path": "rl_nav/scripts/worldModels/02_train_vae.py",
"chars": 1079,
"preview": "# python 02_train_vae.py --new_model\n\nimport argparse\nimport numpy as np\nimport VAE\n\nimport sys\nsys.path.append(\"..\")\nim"
},
{
"path": "rl_nav/scripts/worldModels/RNN.py",
"chars": 3835,
"preview": "import math\n\nfrom keras.layers import Input, LSTM, Dense\nfrom keras.models import Model\nfrom keras import backend as K\nf"
},
{
"path": "rl_nav/scripts/worldModels/VAE.py",
"chars": 9230,
"preview": "import numpy as np\n\nfrom keras.layers import Input, Conv2D, Flatten, Dense, Conv2DTranspose, Lambda, Reshape\nfrom keras."
},
{
"path": "rl_nav/scripts/worldModels/VAE2.py",
"chars": 7154,
"preview": "import numpy as np\n\nfrom keras.layers import Input, Conv2D, Flatten, Dense, Conv2DTranspose, Lambda, Reshape\nfrom keras."
},
{
"path": "rl_nav/scripts/worldModels/__init__.py",
"chars": 1,
"preview": "\n"
},
{
"path": "rl_nav/scripts/worldModels/test_rnn.py",
"chars": 1871,
"preview": "import numpy as np\nfrom RNN import RNN\nfrom VAE import VAE\nfrom keras.preprocessing.sequence import pad_sequences\nimport"
},
{
"path": "rl_nav/scripts/worldModels/test_vae.py",
"chars": 871,
"preview": "import numpy as np\nimport VAE\nimport sys\nimport matplotlib.pyplot as plt\n\nsys.path.append(\"..\")\nimport config\n\nnp.set_pr"
},
{
"path": "rl_nav/worlds/goal.urdf",
"chars": 667,
"preview": "<?xml version=\"1.0\" ?>\n<robot name=\"goal\">\n <link name=\"link\">\n <inertial>\n <origin xyz=\"0 0 0\" />\n <mass "
},
{
"path": "rl_nav/worlds/maze0.world",
"chars": 17493,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "rl_nav/worlds/maze1.world",
"chars": 15553,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "rl_nav/worlds/maze2.world",
"chars": 15545,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "rl_nav/worlds/maze3.world",
"chars": 15512,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "rl_nav/worlds/maze4.world",
"chars": 17099,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "rl_nav/worlds/maze5.world",
"chars": 17048,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "rl_nav/worlds/maze6.world",
"chars": 15557,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "rl_nav/worlds/maze7.world",
"chars": 15591,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "rl_nav/worlds/maze8.world",
"chars": 15637,
"preview": "<sdf version='1.6'>\n <world name='default'>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shado"
},
{
"path": "tools/calculate_SPL.py",
"chars": 1295,
"preview": "#!/usr/bin/python\n# -*- coding: UTF-8 -*-\n\nimport matplotlib.pyplot as plt\n\n\ndef main():\n recordpath = '../materials/"
},
{
"path": "tools/draw_reward.py",
"chars": 2204,
"preview": "#!/usr/bin/python\n# -*- coding: UTF-8 -*-\n\nimport numpy as np\nimport matplotlib.pyplot as plt\n\nplt.rcParams['font.sans-s"
},
{
"path": "tools/draw_success_rate.py",
"chars": 2491,
"preview": "#!/usr/bin/python\n# -*- coding: UTF-8 -*-\n\nimport matplotlib.pyplot as plt\n\nplt.rcParams['font.sans-serif'] = ['Times Ne"
},
{
"path": "turtlebot_description/CMakeLists.txt",
"chars": 499,
"preview": "cmake_minimum_required(VERSION 2.8.3)\n\nproject(turtlebot_description)\nfind_package(catkin REQUIRED COMPONENTS urdf xacro"
},
{
"path": "turtlebot_description/meshes/sensors/kinect.dae",
"chars": 576711,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/meshes/sensors/sensor_pole.dae",
"chars": 13988,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae",
"chars": 46289,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/meshes/stacks/hexagons/plate_middle.dae",
"chars": 95188,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/meshes/stacks/hexagons/plate_top.dae",
"chars": 95241,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae",
"chars": 48578,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae",
"chars": 69119,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/meshes/stacks/hexagons/pole_middle.dae",
"chars": 56433,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/meshes/stacks/hexagons/pole_top.dae",
"chars": 23941,
"preview": "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "turtlebot_description/package.xml",
"chars": 1101,
"preview": "<package>\n <name>turtlebot_description</name>\n <version>2.4.2</version>\n <description>\n a revised compact version"
},
{
"path": "turtlebot_description/readme.md",
"chars": 959,
"preview": "### turtlebot_description\n* To use it you need delete the official turtlebot_description first\n \n sudo apt-get"
},
{
"path": "turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro",
"chars": 656,
"preview": "<?xml version=\"1.0\"?>\n<!--\n - Base : kobuki\n - Stacks : hexagons\n - 3d Sensor : kinect\n--> \n<robot n"
},
{
"path": "turtlebot_description/urdf/common_properties.urdf.xacro",
"chars": 1653,
"preview": "<?xml version=\"1.0\" ?>\n<!--\n Various useful properties such as constants and materials \n -->\n<robot name=\"xacro_propert"
},
{
"path": "turtlebot_description/urdf/kobuki/common_properties.urdf.xacro",
"chars": 1654,
"preview": "<?xml version=\"1.0\" ?>\n<!--\n Various useful properties such as constants and materials \n -->\n<robot name=\"xacro_propert"
},
{
"path": "turtlebot_description/urdf/kobuki/kobuki.urdf.xacro",
"chars": 7372,
"preview": "<?xml version=\"1.0\" ?>\n<!--\n This is not a standalone urdf for kobuki. It simply defines the 'kobuki' tag that can\n be"
},
{
"path": "turtlebot_description/urdf/kobuki/kobuki_gazebo.urdf.xacro",
"chars": 6515,
"preview": "<?xml version=\"1.0\"?>\n\n<robot name=\"kobuki_sim\" xmlns:xacro=\"http://ros.org/wiki/xacro\">\n <xacro:macro name=\"kobuki_sim"
},
{
"path": "turtlebot_description/urdf/sensors/kinect.urdf.xacro",
"chars": 2684,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"sensor_kinect\" xmlns:xacro=\"http://ros.org/wiki/xacro\">\n <xacro:include filename=\"$("
},
{
"path": "turtlebot_description/urdf/stacks/hexagons.urdf.xacro",
"chars": 8818,
"preview": "<?xml version=\"1.0\"?>\n<!--\n Hexagon stacks\n -->\n<robot name=\"stack_hexagons\" xmlns:xacro=\"http://ros.org/wiki/xacro\">\n "
},
{
"path": "turtlebot_description/urdf/turtlebot_common_library.urdf.xacro",
"chars": 359,
"preview": "<?xml version=\"1.0\"?>\n<!--\n The common turtlebot library of xacros for easy reference\n -->\n<robot xmlns:xacro=\"http://r"
},
{
"path": "turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro",
"chars": 1716,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"turtlebot_gazebo\" xmlns:xacro=\"http://ros.org/wiki/xacro\">\n <!-- Microsoft Kinect / "
},
{
"path": "turtlebot_description/urdf/turtlebot_properties.urdf.xacro",
"chars": 1311,
"preview": "<?xml version=\"1.0\"?>\n<robot xmlns:xacro=\"http://ros.org/wiki/xacro\">\n <!-- \n These properties must be observed by a"
}
]
// ... and 2 more files (download for full content)
About this extraction
This page contains the full source code of the marooncn/navbot GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 74 files (16.2 MB), approximately 773.1k tokens, and a symbol index with 59 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.