RL on TurtleBot3

DQN and DDQN algo on turtlebot3

Software versions

1. Python version = 3.10.12
2. pyqtgraph version = 0.13.7
3. PyQt5 version = 5.15.6
4. Tensorflow[and-cuda] = 2.19.0
5. Numpy version = 2.1.3

Note!

To run the desired turtlebot model source the below line in your .bashrc file

export TURTLEBOT3_MODEL=burger

To run the project

During Training

1. First launch the Gazebo map

ros2 launch turtlebot3_gazebo turtlebot3_dqn_world_stage{$stage_num}.launch.py

2. Run Gazebo environment node

ros2 run turtlebot3_dqn dqn_gazebo {$stage_num}

3. Run DQN environment node

ros2 run turtlebot3_dqn dqn_environment

4. Run DQN agent node

ros2 run turtlebot3_dqn dqn_agent {$stage_num} {$max_training_episodes}

5. Run machine learning graph

ros2 launch turtlebot3_dqn turtlebot3_results.launch.py 

During Testing

1. First launch the Gazebo map

ros2 launch turtlebot3_gazebo turtlebot3_dqn_{$stage_num}.launch.py

2. Run Gazebo environment node

ros2 run turtlebot3_dqn dqn_gazebo_test {$stage_num}

3. Run DQN environment node

ros2 run turtlebot3_dqn dqn_environment

4. Test traind model

ros2 run turtlebot3_dqn dqn_test {$stage_num}

Follow the same steps for DDQN as well

References

Git repo of turtlebot3 Machine Learnning link https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning/tree/humble
Turtlebot3 documentation link https://emanual.robotis.com/docs/en/platform/turtlebot3/machine_learning/