Merge pull request #156 from JdeRobot/issue-155

Updated requirements and small error in import

README.md

@@ -69,6 +69,13 @@ cd RL-Studio
 pip install -r requirements.txt
 ```
 
+Add the project to `PYTHONPATH`:
+
+```bash
+echo "export PYTHONPATH=$PYTHONPATH:~/PATH/TO/RL-Studio" >> ~/.bashrc
+source ~/.bashrc
+```
+
 The commits follow the [gitmoji](https://gitmoji.dev/) convention and the code is formatted with [Black](https://black.readthedocs.io/en/stable/).
 
 

requirements.txt

@@ -3,7 +3,6 @@ actionlib==1.14.0
 alembic==1.9.2
 angles==1.9.13
 astunparse==1.6.3
-base_local_planner==1.17.2
 bondpy==1.8.6
 cachetools==5.2.0
 camera-calibration==1.17.0
@@ -42,7 +41,6 @@ genlisp==0.4.18
 genmsg==0.6.0
 gennodejs==2.0.2
 genpy==0.6.15
-geodesy==0.5.6
 google-auth==2.14.1
 google-auth-oauthlib==0.4.6
 google-pasta==0.2.0
@@ -80,7 +78,6 @@ optuna==3.1.0
 packaging==21.3
 pandas==1.5.2
 Pillow==9.3.0
-pkg_resources==0.0.0
 platformdirs==2.5.4
 protobuf==3.19.6
 pyasn1==0.4.8
@@ -173,18 +170,14 @@ tensorflow-estimator==2.11.0
 tensorflow-io-gcs-filesystem==0.28.0
 tensorrt==0.0.1
 termcolor==2.1.1
-tf==1.13.2
-tf-conversions==1.13.2
 tf2-geometry-msgs==0.7.6
 tf2-kdl==0.7.6
 tf2-py==0.7.6
 tf2-ros==0.7.6
-tf2-sensor-msgs==0.7.6
 threadpoolctl==3.1.0
 topic-tools==1.15.15
 tqdm==4.64.1
 typing_extensions==4.4.0
-unique_id==1.0.6
 urllib3==1.26.13
 Werkzeug==2.2.2
 wrapt==1.14.1

rl_studio/README.md

@@ -64,6 +64,12 @@ python rl-studio.py -f config/<config.yaml>
 ```
 where <config.yaml> can be any config you can create or previosly existed.
 
+When launching Gazebo, if you found and error, try killing all possible previous ROS-Gazebo processes:
+
+```
+killall gzserver
+killall gzclient
+```
 
 ## Config.yaml
 The config.yaml contains all project hyperparams and configuration needed to execute correctly. In case you want to train a Formula 1 agent in a Follow Lane task in Gazebo, with a PPO algorithm and Tensorflow Deep Learning framework, you can use next example from a config.yaml example file:
@@ -85,4 +91,4 @@ Remaining params should be adjusted too. There are many working yaml files in co
 > need extend the rl-studio.py to listen for inputs in a port and execute the loaded brain/algorithm to provide
 > outputs in the desired way.
 
-More info about how to config and launch any task, please go to [agents](agents/README.md) section.
+More info about how to config and launch any task, please go to [agents](agents/README.md) section.

rl_studio/config/config_training_followline_qlearn_f1_gazebo.yaml

@@ -1,5 +1,5 @@
 settings:
-  mode: retraining # training, retraining
+  mode: training # training, retraining
   task: follow_line_gazebo # follow_line_gazebo
   algorithm: qlearn # qlearn
   simulator: gazebo # openai, carla, gazebo, sumo

rl_studio/envs/gazebo/gazebo_envs.py

@@ -11,7 +11,7 @@
 import numpy as np
 from rosgraph_msgs.msg import Clock
 import rospy
-from tf.transformations import quaternion_from_euler
+#from tf.transformations import quaternion_from_euler
 
 from agents.utils import print_messages
 
@@ -70,7 +70,6 @@ def __init__(self, config):
             ]
         )
         # print("Gazebo launched!")
-
         self.gzclient_pid = 0
 
         # Launch the simulation with the given launchfile name