Errors in creating a training environment about tentabot

[akmandor]

Hi @AbelSyx! First of all, thank you for your interest in our work.

To check if there is something broken in the current implementation, I created a new catkin workspace on my computer (Ubuntu 20.04, ROS Noetic) and installed all required packages by following the MANUAL_INSTALLATION. I tested both heuristic navigation (which is default) and drl training. Both of them are working on my side!

To run the drl training from the default configuration, you need to update the configuration file in config_tentabot_server_turtlebot3.yaml and set these values:

• drl_service_flag: true
• mode: "training"
• initial_training_path: "" (Don't forget to comment the one has the training data!)

Since you pointed out, let me also provide the version information of some important Python packages that I tested:

• gym: 0.21.0
• stable_baselines3: 1.6.2
• squaternion: 0.3.4

I think you also asked about the trajectory data. It is under the dataset/trajectory_sampling folder. You can set its location as trajectory_data_path: "dataset/trajectory_sampling/turtlebot3/20220323_142544/" in the config_tentabot_server_turtlebot3 configuration file. If it is not set, then the program creates it automatically, based on the user-defined "## Trajectory Sampling Parameters".

[AbelSyx]

Thank you for your reply. I have solved this problem. I found that this problem was caused by setting the name of task_and_robot_environment_name incorrectly. Now I'm adding lidar and realsense models to our robot model in gazebo to generate trajectory and train. Thank you again!