Robot Deep Learning (Your first Robot With ROS) issues encountered

Course Support Your First Robot With ROS
1

Hi RobotIgnite, All,

I tried to run the roslaunch my_rosbots_training start_training.launch for exercise 6.3

and I see the below message, the robot doesnt move…,

I had followed all the instructions and codes in the tutorial…this launch is going no where…, any help please?

user:~$ roslaunch my_rosbots_training start_training.launch
... logging to /home/user/.ros/log/c6baac66-9670-11ea-80a6-067d79f5ac6a/roslaunch-rosdscomputer-22458.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rosdscomputer:36657/

SUMMARY
========

PARAMETERS
 * /rosbots/alpha: 0.01
 * /rosbots/alpha_decay: 0.01
 * /rosbots/angular_speed: 0.45
 * /rosbots/batch_size: 64
 * /rosbots/cur_lane_offset: 1.51
 * /rosbots/end_episode_points: 200
 * /rosbots/episodes_training: 1000
 * /rosbots/epsilon: 1.0
 * /rosbots/epsilon_decay: 0.995
 * /rosbots/epsilon_min: 0.01
 * /rosbots/follow_lane_reward: 5
 * /rosbots/gamma: 1.0
 * /rosbots/init_linear_forward_speed: 0.0
 * /rosbots/init_linear_turn_speed: 0.0
 * /rosbots/left_right_reward: 2.5
 * /rosbots/linear_forward_speed: 1.5
 * /rosbots/linear_turn_speed: 0.1
 * /rosbots/look_ahead_distance: 100
 * /rosbots/max_lane_offset: 1.5
 * /rosbots/min_episodes: 100
 * /rosbots/monitor: True
 * /rosbots/n_actions: 3
 * /rosbots/n_observations: 19200
 * /rosbots/n_win_ticks: 250
 * /rosbots/number_decimals_precision_obs: 4
 * /rosbots/quiet: False
 * /rosbots/safe_lane_offset: -1.5
 * /rosbots/speed_step: 1.0
 * /rosbots/veer_off_reward: -10
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    rosbots_n1try_algorithm (my_rosbots_training/start_training.py)

ROS_MASTER_URI=http://master:11311

process[rosbots_n1try_algorithm-1]: started with pid [22782]
/usr/local/lib/python2.7/dist-packages/requests/__init__.py:91: RequestsDependencyWarning: urllib3 (1.25.8) or chardet (2.3.0) doesn't match a supported version!
  RequestsDependencyWarning)
/usr/local/lib/python2.7/dist-packages/requests/__init__.py:83: RequestsDependencyWarning: Old version of cryptography ([1, 2, 3]) may cause slowdown.
  warnings.warn(warning, RequestsDependencyWarning)
Using TensorFlow backend.
2020-05-15 07:05:38.522326: W tensorflow/stream_executor/platform/default/dso_loader.cc:55] Could not load dynamiclibrary 'libnvinfer.so.6'; dlerror: libnvinfer.so.6: cannot open shared object file: No such file or directory; LD_LIBRARY_PATH: /opt/ros/kinetic/share/euslisp/jskeus/eus//Linux64/lib:/home/user/catkin_ws/devel/lib:/home/simulations/public_sim_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/opt/ros/kinetic/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/kinetic/share/euslisp/jskeus/eus//Linux64/lib:/usr/local/cuda-10.2/lib64:/home/user/.catkin_ws_python3/src/TensorRT-7.0.0.11/lib:/usr/local/nvidia/lib:/usr/local/nvidia/lib64:/usr/lib/x86_64-linux-gnu/gazebo-7/plugins

it seems like it cannot open the TensorFlow library or something…,

image
image1886×898 320 KB

Thank you,

Kind Regards,
Roger

2

That message is normal, ist because we are using a NON GPU version of Tensorflow, but that warning is totally normal.

I followed the instructions by just copying apasting and I had the robot training.
I’ve posted in this git the package with teh solution. Please , havea look at it because you might have missed launching something. Remember that you have to launch:

roslaunch ros_imresize imresize.launch
roslaunch my_rosbots_training start_training.launch

Git: GIT SOLUTION Unit 8

3

Hi @duckfrost,

So you had this robot training running in the RobotIgnite web browser right?

Thanks for the solution package, I will give it a go again,

Thank you,

Kind Regards
@wai.mak

4

Hi @duckfrost,

I got it running thanks finally,

but it seems the cmake.txt and package.xml has been modified as well which wasnt instructed in the lesson, also, I didnt know I need to run roslaunch ros_imresize imresize.launch this first and then start_training.launch …, I didnt see this was stated in the lesson, …after copy and pasting your files, it started to work…the files I used in the lesson didnt work!.., which was confusing…,

Now my query is, the robot moves along the yellow line until a certain point and then it start over again, (highlighted in the screenshot below), it moves to that spot and then it starts again,

image
image1827×855 359 KB

Please advise on why that is…,

Thank you for your help,

Kind Regards,
@wai.mak

5

Hi @duckfrost,

Any updates on my query below?

Thank you ,

Kind Regards
@wai.mak

6

Hi @duckfrost,

Any suggestion for my query above please?
I’m still waiting for an answer, on why the training loops and does not continue on…,

Thanks
Roger