dqn_node.py 文件源码

def __init__(self, max_random_start,
               observation_dims, data_format, display):

    self.max_random_start = max_random_start
    self.action_size = 28

    self.display = display
    self.data_format = data_format
    self.observation_dims = observation_dims

    self.screen = np.zeros((self.observation_dims[0],self.observation_dims[1]), np.uint8)

    #####################
    # Followings are not used yet
    self.syncLaser = False
    self.syncPose = False
    self.syncGoal = False
    self.syncDir = False

    self.sentTime = 0
    #####################

    self.poseX = 0.0
    self.poseY = 0.0
    self.prevPoseX = 0.0
    self.prevPoseY = 0.0
    self.goalX = 0.0
    self.goalY = 0.0
    self.dir = 0.0
    self.prevDist = 0.0
    self.terminal = 0
    self.sendTerminal = 0
    self.clock = Clock()
    self.lastClock = Clock()

    rospy.wait_for_service('reset_positions')
    self.resetStage = rospy.ServiceProxy('reset_positions', EmptySrv)

    # Publishers:
    self.pub_action_ = rospy.Publisher("dqn/selected_action",Int8,queue_size=1)
    self.pub_new_goal_ = rospy.Publisher("dqn/new_goal",EmptyMsg,queue_size=1)
    self.pub_rew_ = rospy.Publisher("dqn/lastreward",Float32,queue_size=1)


    # Subscribers:
    rospy.Subscriber('bridge/laser_image', Image, self.laserCB,queue_size=1)
    rospy.Subscriber('bridge/current_dir', Float32, self.directionCB,queue_size=1)
    rospy.Subscriber('bridge/impact', EmptyMsg, self.impactCB,queue_size=1)
    rospy.Subscriber('bridge/current_pose', Pose, self.positionCB,queue_size=1)
    rospy.Subscriber('bridge/goal_pose', Pose, self.targetCB,queue_size=1)
    rospy.Subscriber('clock', Clock, self.stepCB,queue_size=1)