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rl_sar
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del default cfg

This commit is contained in:
fan-ziqi 2025-03-11 19:39:54 +08:00
parent aa4652444d
commit 0c586573cd
9 changed files with 14 additions and 8 deletions
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2
src/rl_sar/launch/gazebo_a1.launch
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@ -1,7 +1,7 @@
<launch> <launch>
<arg name="wname" default="stairs"/> <arg name="wname" default="stairs"/>
<arg name="rname" default="a1"/> <arg name="rname" default="a1"/>
<arg name="cfg" default="isaacgym"/> <arg name="cfg" default=""/>
<param name="robot_name" type="str" value="$(arg rname)"/> <param name="robot_name" type="str" value="$(arg rname)"/>
<param name="config_name" type="str" value="$(arg cfg)"/> <param name="config_name" type="str" value="$(arg cfg)"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/> <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>

2
src/rl_sar/launch/gazebo_b2.launch
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@ -1,7 +1,7 @@
<launch> <launch>
<arg name="wname" default="stairs"/> <arg name="wname" default="stairs"/>
<arg name="rname" default="b2"/> <arg name="rname" default="b2"/>
<arg name="cfg" default="isaacgym"/> <arg name="cfg" default=""/>
<param name="robot_name" type="str" value="$(arg rname)"/> <param name="robot_name" type="str" value="$(arg rname)"/>
<param name="config_name" type="str" value="$(arg cfg)"/> <param name="config_name" type="str" value="$(arg cfg)"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/> <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>

2
src/rl_sar/launch/gazebo_b2w.launch
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@ -1,7 +1,7 @@
<launch> <launch>
<arg name="wname" default="stairs"/> <arg name="wname" default="stairs"/>
<arg name="rname" default="b2w"/> <arg name="rname" default="b2w"/>
<arg name="cfg" default="isaacgym"/> <arg name="cfg" default=""/>
<param name="robot_name" type="str" value="$(arg rname)"/> <param name="robot_name" type="str" value="$(arg rname)"/>
<param name="config_name" type="str" value="$(arg cfg)"/> <param name="config_name" type="str" value="$(arg cfg)"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/> <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>

2
src/rl_sar/launch/gazebo_go2.launch
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@ -1,7 +1,7 @@
<launch> <launch>
<arg name="wname" default="stairs"/> <arg name="wname" default="stairs"/>
<arg name="rname" default="go2"/> <arg name="rname" default="go2"/>
<arg name="cfg" default="himloco"/> <arg name="cfg" default=""/>
<param name="robot_name" type="str" value="$(arg rname)"/> <param name="robot_name" type="str" value="$(arg rname)"/>
<param name="config_name" type="str" value="$(arg cfg)"/> <param name="config_name" type="str" value="$(arg cfg)"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/> <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>

2
src/rl_sar/launch/gazebo_go2w.launch
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@ -1,7 +1,7 @@
<launch> <launch>
<arg name="wname" default="stairs"/> <arg name="wname" default="stairs"/>
<arg name="rname" default="go2w"/> <arg name="rname" default="go2w"/>
<arg name="cfg" default="isaacgym"/> <arg name="cfg" default=""/>
<param name="robot_name" type="str" value="$(arg rname)"/> <param name="robot_name" type="str" value="$(arg rname)"/>
<param name="config_name" type="str" value="$(arg cfg)"/> <param name="config_name" type="str" value="$(arg cfg)"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/> <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>

2
src/rl_sar/launch/gazebo_gr1t1.launch
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@ -1,7 +1,7 @@
<launch> <launch>
<arg name="wname" default="stairs"/> <arg name="wname" default="stairs"/>
<arg name="rname" default="gr1t1"/> <arg name="rname" default="gr1t1"/>
<arg name="cfg" default="isaacgym"/> <arg name="cfg" default=""/>
<param name="robot_name" type="str" value="$(arg rname)"/> <param name="robot_name" type="str" value="$(arg rname)"/>
<param name="config_name" type="str" value="$(arg cfg)"/> <param name="config_name" type="str" value="$(arg cfg)"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/> <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>

2
src/rl_sar/launch/gazebo_gr1t2.launch
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@ -1,7 +1,7 @@
<launch> <launch>
<arg name="wname" default="stairs"/> <arg name="wname" default="stairs"/>
<arg name="rname" default="gr1t2"/> <arg name="rname" default="gr1t2"/>
<arg name="cfg" default="isaacgym"/> <arg name="cfg" default=""/>
<param name="robot_name" type="str" value="$(arg rname)"/> <param name="robot_name" type="str" value="$(arg rname)"/>
<param name="config_name" type="str" value="$(arg cfg)"/> <param name="config_name" type="str" value="$(arg cfg)"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/> <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>

2
src/rl_sar/launch/gazebo_l4w4.launch
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@ -1,7 +1,7 @@
<launch> <launch>
<arg name="wname" default="stairs"/> <arg name="wname" default="stairs"/>
<arg name="rname" default="l4w4"/> <arg name="rname" default="l4w4"/>
<arg name="cfg" default="isaacgym"/> <arg name="cfg" default=""/>
<param name="robot_name" type="str" value="$(arg rname)"/> <param name="robot_name" type="str" value="$(arg rname)"/>
<param name="config_name" type="str" value="$(arg cfg)"/> <param name="config_name" type="str" value="$(arg cfg)"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/> <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>

6
src/rl_sar/src/rl_sim.cpp
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@ -15,6 +15,12 @@ RL_Sim::RL_Sim()
// read params from yaml // read params from yaml
nh.param<std::string>("robot_name", this->robot_name, ""); nh.param<std::string>("robot_name", this->robot_name, "");
nh.param<std::string>("config_name", this->config_name, ""); nh.param<std::string>("config_name", this->config_name, "");
if (this->config_name.empty())
{
std::cerr << LOGGER::ERROR << "Configuration file not specified. Please provide it using 'cfg:=xxx'" << std::endl
<< LOGGER::ERROR << "Example: roslaunch rl_sar gazebo_<ROBOT>.launch cfg:=<CONFIG>" << std::endl;
std::abort(); // Abnormally terminate the program (triggers SIGABRT)
}
std::string robot_path = this->robot_name + "/" + this->config_name; std::string robot_path = this->robot_name + "/" + this->config_name;
this->ReadYaml(robot_path); this->ReadYaml(robot_path);
for (std::string &observation : this->params.observations) for (std::string &observation : this->params.observations)