Merge branch 'ros-2-complete' of https://github.com/purdue-arc/rocket…

…_league into ros-2-complete

src/rktl_autonomy/rktl_autonomy/rocket_league_agent.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+"""Real-time evaluation of the agent trained for the Rocket League project.
+License:
+  BSD 3-Clause License
+  Copyright (c) 2023, Autonomous Robotics Club of Purdue (Purdue ARC)
+  All rights reserved.
+"""
+
+from rktl_autonomy.rocket_league_interface import RocketLeagueInterface
+from stable_baselines3 import PPO
+from os.path import expanduser
+from rclpy.exceptions import ROSInterruptException
+
+
+def main():
+  # create interface (and init ROS)
+  env = RocketLeagueInterface(eval=True)
+
+  # load the model
+  weights = expanduser(env.node.get_parameter('~weights').get_parameter_value().string_value)
+  model = PPO.load(weights)
+
+  # evaluate in real-time
+  obs = env.reset()
+  while True:
+      action, __ = model.predict(obs)
+      try:
+          obs, __, __, __ = env.step(action)
+      # except rospy.ROSInterruptException:
+      except ROSInterruptException:
+          exit()
+
+if __name__=='__main__':
+    main()
+

src/rktl_autonomy/rktl_autonomy/rocket_league_interface.py

@@ -16,7 +16,7 @@
 
 # ROS
 import rclpy
-from rclpy import Node
+from rclpy.node import Node
 from rclpy.parameter import Parameter
 from nav_msgs.msg import Odometry
 from rktl_msgs.msg import ControlCommand, MatchStatus

src/rktl_autonomy/setup.py

@@ -13,6 +13,7 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+        (os.path.join('lib', package_name), glob(os.path.join(package_name, '*.py'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -23,7 +24,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-
+            'rocket_league_agent = rktl_autonomy.rocket_league_agent:main'
         ],
     },
 )