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RoverPlugin.cpp
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RoverPlugin.cpp
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/*
* http://github.com/dusty-nv/jetson-reinforcement
*/
#include "RoverPlugin.h"
#include "PropPlugin.h"
#include "GazeboUtils.h"
#include "cudaMappedMemory.h"
#include "cudaPlanar.h"
#define PI 3.141592653589793238462643383279502884197169f
#define LF_HINGE "rover::front_left_wheel_hinge"
#define LB_HINGE "rover::back_left_wheel_hinge"
#define RF_HINGE "rover::front_right_wheel_hinge"
#define RB_HINGE "rover::back_right_wheel_hinge"
#define JOINT_MIN -0.75f
#define JOINT_MAX 2.0f
#define VELOCITY_MIN -1.0f
#define VELOCITY_MAX 1.0f
// Define DQN API Settings
#define INPUT_WIDTH 64
#define INPUT_HEIGHT 64
#define INPUT_CHANNELS 3
#define OPTIMIZER "RMSprop"
#define LEARNING_RATE 0.1f
#define REPLAY_MEMORY 10000
#define BATCH_SIZE 32
#define GAMMA 0.9f
#define EPS_START 0.9f
#define EPS_END 0.05f
#define EPS_DECAY 200
#define USE_LSTM true
#define LSTM_SIZE 256
#define ALLOW_RANDOM true
#define DEBUG_DQN false
#define NET_OUTPUTS 4
#define WORLD_NAME "rover_world"
#define ROVER_NAME "rover"
#define GOAL_NAME "goal"
#define REWARD_WIN 500.0f
#define REWARD_LOSS -500.0f
#define REWARD_MULTIPLIER 100.0f
#define COLLISION_FILTER "ground_plane::link::collision"
#define ANIMATION_STEPS 2000
namespace gazebo
{
// register this plugin with the simulator
GZ_REGISTER_MODEL_PLUGIN(RoverPlugin)
// constructor
RoverPlugin::RoverPlugin() : ModelPlugin(), cameraNode(new gazebo::transport::Node()), collisionNode(new gazebo::transport::Node())
{
printf("RoverPlugin::RoverPlugin()\n");
agent = NULL;
opMode = AGENT_LEARN;
inputState = NULL;
inputBuffer[0] = NULL;
inputBuffer[1] = NULL;
inputBufferSize = 0;
inputRawWidth = 0;
inputRawHeight = 0;
actionVelDelta = 0.1f;
maxEpisodeLength = 200; // set to # frames to limit ep length
episodeFrames = 0;
episodesCompleted = 0;
episodesWon = 0;
newState = false;
newReward = false;
endEpisode = false;
rewardHistory = 0.0f;
lastGoalDistance = 0.0f;
avgGoalDelta = 0.0f;
lastAction = -1;
runHistoryIdx = 0;
runHistoryMax = 0;
memset(runHistory, 0, sizeof(runHistory));
for( uint32_t n=0; n < DOF; n++ )
vel[n] = 0.0f;
HID = NULL;
}
// configJoint
bool RoverPlugin::configJoint( const char* name )
{
std::vector<physics::JointPtr> jnt = model->GetJoints();
const size_t numJoints = jnt.size();
// find the joint with the specified name
for( uint32_t n=0; n < numJoints; n++ )
{
if( strcmp(name, jnt[n]->GetScopedName().c_str()) == 0 )
{
jnt[n]->SetVelocity(0, 0.0);
joints.push_back(jnt[n]);
return true;
}
}
printf("RoverPlugin -- failed to find joint '%s'\n", name);
return false;
}
// Load
void RoverPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
printf("RoverPlugin::Load('%s')\n", _parent->GetName().c_str());
// Store the pointer to the model
this->model = _parent;
// Configure the drive joints
configJoint(LF_HINGE);
configJoint(LB_HINGE);
configJoint(RF_HINGE);
configJoint(RB_HINGE);
// Store the original pose of the model
this->originalPose = model->GetWorldPose();
// create DQN agent
if( !createAgent() )
printf("RoverPlugin -- failed to create DQN agent\n");
// Create our node for camera communication
cameraNode->Init();
cameraSub = cameraNode->Subscribe("/gazebo/" WORLD_NAME "/" ROVER_NAME "/camera_link/camera/image", &RoverPlugin::onCameraMsg, this);
// Create our node for collision detection
collisionNode->Init();
collisionSub = collisionNode->Subscribe("/gazebo/" WORLD_NAME "/" ROVER_NAME "/chassis/my_contact", &RoverPlugin::onCollisionMsg, this);
// Listen to the update event. This event is broadcast every simulation iteration.
this->updateConnection = event::Events::ConnectWorldUpdateBegin(boost::bind(&RoverPlugin::OnUpdate, this, _1));
}
// onCameraMsg
void RoverPlugin::onCameraMsg(ConstImageStampedPtr &_msg)
{
static int iter = 0;
iter++;
if( iter < 10 )
return;
// check the validity of the message contents
if( !_msg )
{
printf("RoverPlugin - recieved NULL message\n");
return;
}
// retrieve image dimensions
const int width = _msg->image().width();
const int height = _msg->image().height();
const int bpp = (_msg->image().step() / _msg->image().width()) * 8; // bits per pixel
const int size = _msg->image().data().size();
if( bpp != 24 )
{
printf("RoverPlugin - expected 24BPP uchar3 image from camera, got %i\n", bpp);
return;
}
// allocate temp image if necessary
if( !inputBuffer[0] || size != inputBufferSize )
{
if( !cudaAllocMapped(&inputBuffer[0], &inputBuffer[1], size) )
{
printf("RoverPlugin - cudaAllocMapped() failed to allocate %i bytes\n", size);
return;
}
printf("RoverPlugin - allocated camera img buffer %ix%i %i bpp %i bytes\n", width, height, bpp, size);
inputBufferSize = size;
inputRawWidth = width;
inputRawHeight = height;
}
memcpy(inputBuffer[0], _msg->image().data().c_str(), inputBufferSize);
newState = true;
//printf("camera %i x %i %i bpp %i bytes\n", width, height, bpp, size);
}
// onCollisionMsg
void RoverPlugin::onCollisionMsg(ConstContactsPtr &contacts)
{
//printf("collision callback (%u contacts)\n", contacts->contact_size());
for (unsigned int i = 0; i < contacts->contact_size(); ++i)
{
if( strcmp(contacts->contact(i).collision2().c_str(), COLLISION_FILTER) == 0 )
continue;
std::cout << "Collision between[" << contacts->contact(i).collision1()
<< "] and [" << contacts->contact(i).collision2() << "]\n";
for (unsigned int j = 0; j < contacts->contact(i).position_size(); ++j)
{
std::cout << j << " Position:"
<< contacts->contact(i).position(j).x() << " "
<< contacts->contact(i).position(j).y() << " "
<< contacts->contact(i).position(j).z() << "\n";
std::cout << " Normal:"
<< contacts->contact(i).normal(j).x() << " "
<< contacts->contact(i).normal(j).y() << " "
<< contacts->contact(i).normal(j).z() << "\n";
std::cout << " Depth:" << contacts->contact(i).depth(j) << "\n";
}
// issue learning reward
if( opMode == AGENT_LEARN )
{
#define GOAL_COLLISION "goal::link::box_collision"
bool hitTarget = (strcmp(contacts->contact(i).collision2().c_str(), GOAL_COLLISION) == 0) ||
(strcmp(contacts->contact(i).collision1().c_str(), GOAL_COLLISION) == 0);
rewardHistory = hitTarget ? REWARD_WIN : REWARD_LOSS;
newReward = true;
endEpisode = true;
}
}
}
// createAgent
bool RoverPlugin::createAgent()
{
if( agent != NULL )
return true;
// Create AI agent
agent = dqnAgent::Create(INPUT_WIDTH, INPUT_HEIGHT, INPUT_CHANNELS, NET_OUTPUTS,
OPTIMIZER, LEARNING_RATE, REPLAY_MEMORY, BATCH_SIZE,
GAMMA, EPS_START, EPS_END, EPS_DECAY,
USE_LSTM, LSTM_SIZE, ALLOW_RANDOM, DEBUG_DQN);
if( !agent )
{
printf("RoverPlugin - failed to create AI agent\n");
return false;
}
inputState = Tensor::Alloc(INPUT_WIDTH, INPUT_HEIGHT, INPUT_CHANNELS);
if( !inputState )
{
printf("RoverPlugin - failed to allocate %ux%ux%u Tensor\n", INPUT_WIDTH, INPUT_HEIGHT, INPUT_CHANNELS);
return false;
}
return true;
}
// upon recieving a new frame, update the AI agent
bool RoverPlugin::updateAgent()
{
if( !agent )
return false;
// convert uchar3 input from camera to planar BGR
if( CUDA_FAILED(cudaPackedToPlanarBGR((uchar3*)inputBuffer[1], inputRawWidth, inputRawHeight,
inputState->gpuPtr, INPUT_WIDTH, INPUT_HEIGHT)) )
{
printf("RoverPlugin - failed to convert %zux%zu image to %ux%u planar BGR image\n",
inputRawWidth, inputRawHeight, INPUT_WIDTH, INPUT_HEIGHT);
return false;
}
// select the next action
int action = 0;
if( !agent->NextAction(inputState, &action) )
{
printf("RoverPlugin - failed to generate agent's next action\n");
return false;
}
// make sure the selected action is in-bounds
if( action < 0 || action >= /*DOF * 2 + 1*/ NET_OUTPUTS )
{
printf("RoverPlugin - agent selected invalid action, %i\n", action);
return false;
}
//printf("RoverPlugin - agent selected action %i\n", action);
#if 0
// action 0 does nothing, the others index a joint
if( action == 0 )
return false; // not an error, but didn't cause an update
action--; // with action 0 = no-op, index 1 should map to joint 0
// if the action is even, increase the joint position by the delta parameter
// if the action is odd, decrease the joint position by the delta parameter
vel[action/2] = vel[action/2] + actionVelDelta * ((action % 2 == 0) ? 1.0f : -1.0f);
#endif
if( action == 0 )
{
for( uint32_t n=0; n < DOF; n++ )
vel[n] = VELOCITY_MIN;
}
else if( action == 1 )
{
for( uint32_t n=0; n < DOF; n++ )
vel[n] = VELOCITY_MAX;
}
else if( action == 2 )
{
vel[0] = VELOCITY_MIN;
vel[1] = VELOCITY_MAX;
}
else if( action == 3 )
{
vel[0] = VELOCITY_MAX;
vel[1] = VELOCITY_MIN;
}
lastAction = action;
return true;
}
// return the tetxual string corresponding to an action
static const char* actionStr( int action )
{
if( action == 0 ) return "REV ";
else if( action == 1 ) return "FWD ";
else if( action == 2 ) return "LEFT ";
else if( action == 3 ) return "RIGHT";
else return "NULL ";
}
// update joint reference positions, returns true if positions have been modified
bool RoverPlugin::updateJoints()
{
if( opMode == USER_MANUAL )
{
// make sure the HID interface is open
if( !HID )
{
static int count = 0; // BUG: gazebo glitches when dev opened early
if( count > 1000 )
HID = InputDevices::Create();
count++;
if( !HID )
return false; // TODO: print Try running sudo?
}
// poll for input events
HID->Poll();
// retrieve keyboard device
KeyboardDevice* keyboard = HID->GetKeyboard();
if( !keyboard )
return false;
if( keyboard->KeyDown(KEY_W) )
{
vel[0] += actionVelDelta;
printf("KEY_W\n");
}
if( keyboard->KeyDown(KEY_S) )
{
vel[0] -= actionVelDelta;
printf("KEY_S\n");
}
if( keyboard->KeyDown(KEY_I) )
{
vel[1] += actionVelDelta;
printf("KEY_I\n");
}
if( keyboard->KeyDown(KEY_K) )
{
vel[1] -= actionVelDelta;
printf("KEY_K\n");
}
return true;
}
else if( newState )
{
// update the AI agent when new camera frame is ready
episodeFrames++;
//printf("episode %i frame = %i\n", episodesCompleted, episodeFrames);
// reset camera ready flag
newState = false;
if( updateAgent() )
return true;
}
return false;
}
// called by the world update start event
void RoverPlugin::OnUpdate(const common::UpdateInfo & /*_info*/)
{
static int iter = 0;
iter++;
if( iter < 1000 )
return;
const bool hadNewState = newState && (opMode == AGENT_LEARN);
// update the robot positions with vision/DQN
if( updateJoints() )
{
for( int i=0; i < DOF; i++ )
{
if( vel[i] < VELOCITY_MIN )
vel[i] = VELOCITY_MIN;
if( vel[i] > VELOCITY_MAX )
vel[i] = VELOCITY_MAX;
}
if( joints.size() != 4 )
{
printf("RoverPlugin -- could only find %zu of 4 drive joints\n", joints.size());
return;
}
joints[0]->SetVelocity(0, vel[0]);
joints[1]->SetVelocity(0, vel[0]);
joints[2]->SetVelocity(0, vel[1]);
joints[3]->SetVelocity(0, vel[1]);
}
// episode timeout
if( maxEpisodeLength > 0 && episodeFrames > maxEpisodeLength )
{
printf("RoverPlugin - triggering EOE, episode has exceeded %i frames\n", maxEpisodeLength);
rewardHistory = REWARD_LOSS;
newReward = true;
endEpisode = true;
}
// if an EOE reward hasn't already been issued, compute one
if( hadNewState && !newReward )
{
PropPlugin* goal = GetPropByName(GOAL_NAME);
if( !goal )
{
printf("RoverPlugin - failed to find Prop '%s'\n", GOAL_NAME);
return;
}
// get the bounding box for the prop object
const math::Box& goalBBox = goal->model->GetBoundingBox();
physics::LinkPtr chassis = model->GetLink("chassis");
if( !chassis )
{
printf("RoverPlugin - failed to find chassis link\n");
return;
}
const math::Box& chassisBBox = chassis->GetBoundingBox();
const float distGoal = BoxDistance(goalBBox, chassisBBox);
const float distDelta = lastGoalDistance - distGoal;
const float movingAvg = 0.0f; // rolling average to smooth out the intermediary reward and prevent "hovering"
avgGoalDelta = (avgGoalDelta * movingAvg) + (distDelta * (1.0f - movingAvg));
rewardHistory = (episodeFrames > 1) ? avgGoalDelta * REWARD_MULTIPLIER : 0.0f;
if( distGoal < 0.01 )
rewardHistory = REWARD_WIN; // TODO investigate if necessary
lastGoalDistance = distGoal;
/*bool isMoving = false;
for( uint32_t n=0; n < DOF; n++ )
if( vel[n] != 0.0f ) // TODO epsilon of actionVelDelta?
isMoving = true;
if( isMoving && episodeFrames % 10 == 0 )
rewardHistory = 1.0f; // the rover hasn't run into anything this frame (pos reward)
else
rewardHistory = 0.0f;*/
newReward = true;
}
// issue rewards and train DQN
if( newReward && agent != NULL )
{
//printf("RoverPlugin - issuing reward %f, EOE=%s %s\n", rewardHistory, endEpisode ? "true" : "false", (rewardHistory > 0.1f) ? "POS+" : (rewardHistory > 0.0f) ? "POS" : (rewardHistory < 0.0f) ? " NEG" : " ZERO");
agent->NextReward(rewardHistory, endEpisode);
// reset reward indicator
newReward = false;
// reset for next episode
if( endEpisode )
{
endEpisode = false;
episodeFrames = 0;
lastGoalDistance = 0.0f;
avgGoalDelta = 0.0f;
// reset simulation state
// ResetPropDynamics(); // DISABLED: turns out the rover doesn't move the box anyways (now the user can move the box themselves)
for( uint32_t n=0; n < DOF; n++ )
vel[n] = 0.0f;
model->SetAngularAccel(math::Vector3(0.0, 0.0, 0.0));
model->SetAngularVel(math::Vector3(0.0, 0.0, 0.0));
model->SetLinearAccel(math::Vector3(0.0, 0.0, 0.0));
model->SetLinearVel(math::Vector3(0.0, 0.0, 0.0));
model->SetWorldPose(originalPose);
// tally episode stats
if( rewardHistory >= REWARD_WIN )
{
runHistory[runHistoryIdx] = true;
episodesWon++;
}
else
runHistory[runHistoryIdx] = false;
runHistoryIdx = (runHistoryIdx + 1) % sizeof(runHistory);
episodesCompleted++;
}
// print agent stats
printf("action = %s reward = %+0.4f wins = %03u of %03u (%0.2f) ",
actionStr(lastAction), rewardHistory,
episodesWon, episodesCompleted, float(episodesWon)/float(episodesCompleted));
const uint32_t RUN_HISTORY = sizeof(runHistory);
if( episodesCompleted >= RUN_HISTORY )
{
uint32_t historyWins = 0;
for( uint32_t n=0; n < RUN_HISTORY; n++ )
{
if( runHistory[n] )
historyWins++;
}
if( historyWins > runHistoryMax )
runHistoryMax = historyWins;
printf("%02u of last %u (%0.2f) (max=%0.2f)", historyWins, RUN_HISTORY, float(historyWins)/float(RUN_HISTORY), float(runHistoryMax)/float(RUN_HISTORY));
}
printf("\n");
}
}
}