Launch Files

These are .launch files that can be run using roslaunch:

roslaunch rktl_autonomy <launch file>

cartpole_train.launch 

This launch file starts the training a model for the cartpole environment. Wraps the cartpole_env node. For more info, refer to its documentation.

agent_name (default: rocket_league_agent): Name of the agent.
render (default: false): If true, a window for the current simulation will be shown.
rate (value: 30.0): Rate at which the simulation runs, in steps per second.

This launch file starts the agent for the rocket league environment. Wraps the rocket_league_agent node. For more info, refer to its documentation.

plot_log (default: false): If true, a plot will be generated.
weights_dir (default: '~/catkin_ws/data/rocket_league/'): Folder containing the weights of pre-trained models.
weights_name (default: 'model'): Which of the models to load, from the directory defined in weights_dir.

rocket_league_agent: rocket_league_agent node from the rktl_autonomy package.
plotter: plotter node from the rktl_autonomy package. Only run if the plot_log argument is set to true.

This launch file starts the training a model for the rocket league environment. Wraps the rocket_league_agent node and runs the simulator.

Loads a training environment for and starts training a model.

plot_log (default: true): If true, a plot will be generated.
agent_name (default: rocket_league_agent): Name of the agent.
render (default: false): If true, a window for the current simulation will be shown.
sim_mode (default: 'ideal'): Simulation mode for training.
rate (value: 10.0): Rate at which the simulation runs, in steps per second. Cannot be overridden.
agent_type (value: 'none'): Disables the loading of an existing agent. Cannot be overridden.

plotter: plotter node from the rktl_autonomy package. Only run if the plot_log argument is set to true.

rktl_perception camera.launch (Included twice, once with camera_name set to cam2 and once with camera_name set to cam3)
rktl_launch rocket_league_sim.launch: Loads Parameters from config/rocket_league.yaml in the rktl_autonomy package. Also sets ~log to $(arg agent_name)/log.

This launch file starts the agent for the snake environment. Wraps the snake_agent node. For more info, refer to its documentation.

plot_log (default: false): If true, a plot will be generated.
render (default: true): If true, a window for the current simulation will be shown.
weights (default: '~/catkin_ws/data/snake/weights’): Folder containing the weights of pre-trained models.
rate (value: 10.0): Rate at which the simulation runs, in steps per second. Cannot be overridden.
snake_size (value: 7): Initial number of segments for the snake. Cannot be overridden.
arena_size (value: 10): Size of the arena the snake operates in. Cannot be overridden.

snake_env: snake_node node from the snakesim package.
snake_agent: snake_agent node from the rktl_autonomy package.
plotter: plotter node from the rktl_autonomy package. Only run if the plot_log argument is set to true.

This launch file starts the training a model for the snake environment. Wraps the snake_agent node. For more info, refer to its documentation.

plot_log (default: false): If true, a plot will be generated.
agent_name (default: 'snake_agent'): Name of the agent.
render (default: false): If true, a window for the current simulation will be shown.
rate (value: 10.0): Rate at which the simulation runs, in steps per second. Cannot be overridden.
snake_size (value: 7): Initial number of segments for the snake. Cannot be overridden.
arena_size (value: 10): Size of the arena the snake operates in. Cannot be overridden.

snake_env: snake_node node from the snakesim package.
plotter: plotter node from the rktl_autonomy package. Only run if the plot_log argument is set to true.