NESTLab · tylerferrara · Dec 4, 2021 · Dec 5, 2021 · Dec 5, 2021 · Dec 6, 2021
diff --git a/.gitignore b/.gitignore
@@ -29,3 +29,5 @@ CATKIN_IGNORE
 
 # Coveralls
 .coverage
+.idea/
+coms/coms/test1/*
diff --git a/.gitmodules b/.gitmodules
@@ -1,4 +0,0 @@
-[submodule "turtlebot3_simulations"]
-	path = turtlebot3_simulations
-	url = https://github.com/NESTLab/turtlebot3_simulations.git
-	branch = noetic-devel

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,76 @@
+{
+    "files.associations": {
+        "array": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "unordered_map": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "atomic": "cpp",
+        "hash_map": "cpp",
+        "hash_set": "cpp",
+        "strstream": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "set": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "bit": "cpp"
+    }
+}
diff --git a/Dockerfile b/Dockerfile
@@ -70,13 +70,20 @@ RUN git clone https://github.com/ilpincy/argos3-kheperaiv.git; \
 RUN sudo apt-get update; \
   sudo apt-get upgrade -y; \
   sudo apt-get install -y \
+    apt-utils \
     python-is-python3 \
     ros-noetic-octomap \
     ros-noetic-octomap-msgs \
     iproute2 \
     ros-noetic-catkin \
     python3-catkin-tools \
-    libtf2-ros-dev
+    libtf2-ros-dev \
+    ros-noetic-global-planner ;
+
+RUN pip install gym tensorflow ;
+
+RUN apt install wget
+RUN wget https://raw.githubusercontent.com/NESTLab/turtlebot3_simulations/local_costmap_fix/turtlebot3_gazebo/costmap_common_params_burger_local.yaml -P /opt/ros/noetic/share/turtlebot3_navigation/param/
 
 # Add ROS dependent scripts
 RUN rosdep init; \
@@ -87,6 +94,11 @@ RUN rosdep init; \
   echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/argos3:/opt/ros/noetic/lib" >> ~/.bashrc; \
   echo "export ARGOS_PLUGIN_PATH=$HOME/catkin_ws/src/argos_bridge/ros_lib_links" >> ~/.bashrc; \
   echo "export ARGOS_PLUGIN_PATH=$ARGOS_PLUGIN_PATH:$HOME/catkin_ws/devel/lib" >> ~/.bashrc
+
+COPY . /root/catkin_ws/src
+
 EXPOSE 8080
 
+CMD ["chmod a+rwx /root -R"]
+
 CMD ["/root/catkin_ws/src/entrypoint.sh"]
diff --git a/Metrics/Run2/Distance_vs_Time_For_tb3_0.png b/Metrics/Run2/Distance_vs_Time_For_tb3_0.png
diff --git a/Metrics/Run2/Percent_Explored_vs_Distance_For_tb3_0.png b/Metrics/Run2/Percent_Explored_vs_Distance_For_tb3_0.png
diff --git a/Metrics/Run2/Percent_Explored_vs_Time_For_tb3_0.png b/Metrics/Run2/Percent_Explored_vs_Time_For_tb3_0.png
diff --git a/Metrics/Run2/Screenshot from 2021-12-11 17-33-07.png b/Metrics/Run2/Screenshot from 2021-12-11 17-33-07.png
diff --git a/Metrics/Run3/Distance_vs_Time_For_tb3_0.png b/Metrics/Run3/Distance_vs_Time_For_tb3_0.png
diff --git a/Metrics/Run3/Percent_Explored_vs_Distance_For_tb3_0.png b/Metrics/Run3/Percent_Explored_vs_Distance_For_tb3_0.png
diff --git a/Metrics/Run3/Percent_Explored_vs_Time_For_tb3_0.png b/Metrics/Run3/Percent_Explored_vs_Time_For_tb3_0.png
diff --git a/coms/coms/src/nodes/merge_handler.py b/coms/coms/src/nodes/merge_handler.py
@@ -66,7 +66,8 @@ def gmapping_cb(self, msg: OccupancyGrid) -> None:
         if self.logging:
             self.bag.write('map', msg)
 
-
+        self.map_header = msg.header
+        self.map_info = msg.info
         # breakpoint()
         MergeHandler.parse_and_save(msg, self.latest_map)
         # unpack gmapping
@@ -153,10 +154,18 @@ def serve_map(self, _) -> GetMapResponse:
     def create_occupancy_msg(self, seq: int) -> OccupancyGrid:
         occ = OccupancyGrid()
         # header
-        occ.header.seq = seq
-        # metadata
+        # occ.header.seq = seq
+        # occ.header.frame_id = "tb3_"+self.robot_name[-1]+"/map"
+        # occ.header.stamp = rospy.Time.now()
+
+        # # metadata
+        # occ.info.resolution = 0.05000000074505806
+        # occ.info.origin.orientation.w = 1.0
+        occ.header = self.map_header
+        occ.info = self.map_info
         occ.info.height = self.latest_map.shape[0]
         occ.info.width = self.latest_map.shape[1]
+
         # data
         occ.data = tuple(numpy_to_ros(self.latest_map.flatten()))
         return occ

diff --git a/coms/coms/test1/dummy_file b/coms/coms/test1/dummy_file
diff --git a/docker-compose-image.yaml b/docker-compose-image.yaml
@@ -0,0 +1,21 @@
+version: '2'
+services:
+  novnc:
+    image: tberg1234/2122_multidroneindoorslam:latest
+    environment:
+      # Adjust to your screen size
+      - DISPLAY_WIDTH=1366
+      - DISPLAY_HEIGHT=768
+      - RUN_XTERM=no
+    cap_add:
+      - NET_ADMIN
+    devices:
+    - "/dev/net/tun:/dev/net/tun"
+    - /dev/null:/dev/null
+    privileged: true
+    ports:
+      - "8080:8080"
+    networks:
+      - x11
+networks:
+  x11:
diff --git a/frontier_rl/README.txt b/frontier_rl/README.txt
@@ -0,0 +1,34 @@
+INSTRUCTIONS:
+
+To get the image and start the container:
+
+docker pull tberg1234/2122_multidroneindoorslam:latest
+
+docker-compose -f docker-compose-image.yaml up
+
+To get into the container:
+
+docker exec -it 2122_multidroneindoorslam_novnc_1 /bin/bash
+
+Once inside container open 3 shells using the above command and run:
+
+    1. roslaunch a3c_turtlebot3 setup.launch
+    2. rosrun multi_map_ros move_base_reset.py
+    3. roslaunch a3c_turtlebot3 start_a2c_training.launch
+
+Once you run the last command the training will begin.  You can view the progress in the web browser (http://localhost:8080/vnc.html), but you can know it is done when the final (3rd) roslaunch finishes cleanly and returns.  
+
+To run trained model on one robo inclusing explorationt:
+
+    1. roslaunch a3c_turtlebot3 setup.launch
+    2. rosrun multi_map_ros move_base_reset.py
+    3. roslaunch a3c_turtlebot3 start_trained_a2c_v3.launch
+
+To run trained model with publishing frontiers for state machine integration:
+
+rosrun a3c_turtlebot3 a2c_v3_trained_for_state_machine.py 
+roslaunch a3c_turtlebot3 full_start_trained_a2c_v3_for_state_machine.launch
+
+MAKE SURE TO DOWNLOAD MODEL FILES WHICH ARE TOO LARGE FOR GIT - in our drive under ML_Model
+
+
diff --git a/frontier_rl/openai_examples_projects/README.md b/frontier_rl/openai_examples_projects/README.md
@@ -0,0 +1,45 @@
+**Edit a file, create a new file, and clone from Bitbucket in under 2 minutes**
+
+When you're done, you can delete the content in this README and update the file with details for others getting started with your repository.
+
+*We recommend that you open this README in another tab as you perform the tasks below. You can [watch our video](https://youtu.be/0ocf7u76WSo) for a full demo of all the steps in this tutorial. Open the video in a new tab to avoid leaving Bitbucket.*
+
+---
+
+## Edit a file
+
+You’ll start by editing this README file to learn how to edit a file in Bitbucket.
+
+1. Click **Source** on the left side.
+2. Click the README.md link from the list of files.
+3. Click the **Edit** button.
+4. Delete the following text: *Delete this line to make a change to the README from Bitbucket.*
+5. After making your change, click **Commit** and then **Commit** again in the dialog. The commit page will open and you’ll see the change you just made.
+6. Go back to the **Source** page.
+
+---
+
+## Create a file
+
+Next, you’ll add a new file to this repository.
+
+1. Click the **New file** button at the top of the **Source** page.
+2. Give the file a filename of **contributors.txt**.
+3. Enter your name in the empty file space.
+4. Click **Commit** and then **Commit** again in the dialog.
+5. Go back to the **Source** page.
+
+Before you move on, go ahead and explore the repository. You've already seen the **Source** page, but check out the **Commits**, **Branches**, and **Settings** pages.
+
+---
+
+## Clone a repository
+
+Use these steps to clone from SourceTree, our client for using the repository command-line free. Cloning allows you to work on your files locally. If you don't yet have SourceTree, [download and install first](https://www.sourcetreeapp.com/). If you prefer to clone from the command line, see [Clone a repository](https://confluence.atlassian.com/x/4whODQ).
+
+1. You’ll see the clone button under the **Source** heading. Click that button.
+2. Now click **Check out in SourceTree**. You may need to create a SourceTree account or log in.
+3. When you see the **Clone New** dialog in SourceTree, update the destination path and name if you’d like to and then click **Clone**.
+4. Open the directory you just created to see your repository’s files.
+
+Now that you're more familiar with your Bitbucket repository, go ahead and add a new file locally. You can [push your change back to Bitbucket with SourceTree](https://confluence.atlassian.com/x/iqyBMg), or you can [add, commit,](https://confluence.atlassian.com/x/8QhODQ) and [push from the command line](https://confluence.atlassian.com/x/NQ0zDQ).