r7vme / eaglemk4_nn_controller

Reinforsment learning (VAE + DDPG) controller for EagleMK4 car

eaglemk4_nn_controller

Reinforsment learning (VAE + DDPG) controller for EagleMK4 car.

Demo.

Donkey simulation.

Usage

This controller expects EagleMK4 or similar MIT-racecar like ackermann steering robot.

In general, controller can be adapted to any ROS-based robot with monocular camera.

Inputs:

• sensor_msgs/Image from topic image.
• sensor_msgs/Joy from topic joy.

Outputs:

• ackermann_msgs/AckermannDriveStamped from topic navigation.

Joystick buttons:

• Triangle - switch tasks (train and test).
• Right bumper - when pressed enables autonomous mode. Unpressing stops the autonomous mode and stops the episode.