gwaxG / monitor

Monitor_app

This package provides the monitor functionalities used in the robot_ws framework to monitor task progress and assign rewards.
In the actual framework the Go implementation was replaced by the Python-based one.

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Usage

To launch this node it is necessary to install Go language.
Manual launch:
go run cmd/monitor/monitor_app.go.
Build:
go build -o bin/monitor_app cmd/monitor/monitor_app.go.
The app accepts the port on what ROS_MASTER_URI is located.

Subscribes

1. robot/state control/State, this srv definition is located within the control package
2. safety/relative_deviation std_msgs/Float32
3. safety/angular std_msgs/Float32
4. odometry nav_msgs/Odometry

Publishers

1. analytics/rollout std_msgs/String This publishes encoded RolloutAnalytics Go struct to the topic
   which is read by the server where rollout relative data is stored in a database.
   The next rollout properties of the RolloutState are needed:
   • ExpSeries - series of experiments, it relates to the database,
   • Experiment - current experiment name,
   • Seq - episode in the current experiment,
   • Sensors - used sensors,
   • Arm - indicates whether the is arm used,
   • Angular - indicates whether the is angular velocity is controlled,
   • Progress - episode progress,
   • Reward - episode reward,
   • AngularM - perceived mean episode angular velocity,
   • Deviation - perceived mean episode deviation,
   • Accidents - indicates if something critical happened like tipping over,
   • TimeSteps - number of time steps spent in the episode.

Service types

• NewRollout.srv

    string  experiment
    int32   seq   
    int32   time_step_limit  
    string  sensors  
    bool    arm  
    bool    angular  
    bool    use_penalty_angular  
    bool    use_penalty_deviation  
    ---
    bool    received
  

• StepReturn.srv

    ---  
    float32 reward  
    bool    done
  

Services providers

1. rollout/new monitor/NewRollout
   Initialization of new rollout.
2. rollout/start std_srv/Trigger
   The node is triggered from the outside since the rollout is started.
3. rollout/step_return monitor/StepReturn
   On every step, we return basic information about the last time step.

Service clients

1. goal_info simulation/GoalInfo
2. stair_info simulation/StairInfo