Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Update machine_learning.md #1085

Closed
wants to merge 2 commits into from
Closed

Update machine_learning.md #1085

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
4802a56
Update machine_learning.md
keep9oing Apr 8, 2020
daca85d
Merge pull request #1 from keep9oing/keep9oing-machine-learning-md
keep9oing Apr 8, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
52 changes: 33 additions & 19 deletions docs/en/platform/turtlebot3/machine_learning.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,32 +46,39 @@ $ bash Anaconda2-x.x.x-Linux-x86_64.sh

After installing Anaconda,
``` bash
$ source ~/.bashrc
$ python -V
(base)$ source ~/.bashrc
(base)$ python -V
```
If Anaconda is installed, you can see `Python 2.7.xx :: Anaconda, Inc.`.

### [Conda environment](#environment)
Create conda environment
``` bash
(base)$ conda create -n tensorflow pip python=2.7
```
Activate conda environment
``` bash
(tensorflow)$ conda activate tensorflow
```

### [ROS dependency packages](#ros-dependency-packages)
To use ROS and Anaconda together, you must additionally install ROS dependency packages.
``` bash
$ pip install -U rosinstall msgpack empy defusedxml netifaces
(tensorflow)$ pip install -U rosinstall msgpack empy defusedxml netifaces
```

### [Tensorflow](#tensorflow)
You can install [TensorFlow](https://www.tensorflow.org/install/).
``` bash
$ conda create -n tensorflow pip python=2.7
```
You can install [TensorFlow](https://www.tensorflow.org/install/).
This tutorial is used python 2.7(CPU only). If you want to use another python version and GPU, please refer to [TensorFlow](https://www.tensorflow.org/install/).
``` bash
$ pip install --ignore-installed --upgrade https://storage.googleapis.com/tensorflow/linux/cpu/tensorflow-1.8.0-cp27-none-linux_x86_64.whl
(tensorflow)$ pip install --ignore-installed --upgrade https://storage.googleapis.com/tensorflow/linux/cpu/tensorflow-1.8.0-cp27-none-linux_x86_64.whl
```

### [Keras](#keras)
[Keras](https://keras.io/) is a high-level neural networks API, written in Python and capable of running on top of TensorFlow.

``` bash
$ pip install keras==2.1.5
(tensorflow)$ pip install keras==2.1.5
```

### [Machine Learning packages](#machine-learning-packages)
Expand Down Expand Up @@ -156,36 +163,43 @@ Stage 1 is a 4x4 map with no obstacles.

![](/assets/images/platform/turtlebot3/machine_learning/stage_1.jpg)
``` bash
$ roslaunch turtlebot3_gazebo turtlebot3_stage_1.launch
$ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_1.launch
(tensorflow)$ roslaunch turtlebot3_gazebo turtlebot3_stage_1.launch
(tensorflow)$ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_1.launch
```
### [Stage 2 (Static Obstacle)](#stage-2-static-obstacle)
Stage 2 is a 4x4 map with four cylinders of static obstacles.

![](/assets/images/platform/turtlebot3/machine_learning/stage_2.jpg)
``` bash
$ roslaunch turtlebot3_gazebo turtlebot3_stage_2.launch
$ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_2.launch
(tensorflow)$ roslaunch turtlebot3_gazebo turtlebot3_stage_2.launch
(tensorflow)$ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_2.launch
```
### [Stage 3 (Moving Obstacle)](#stage-3-moving-obstacle)
Stage 2 is a 4x4 map with four cylinders of moving obstacles.

![](/assets/images/platform/turtlebot3/machine_learning/stage_3.jpg)
``` bash
$ roslaunch turtlebot3_gazebo turtlebot3_stage_3.launch
$ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_3.launch
(tensorflow)$ roslaunch turtlebot3_gazebo turtlebot3_stage_3.launch
(tensorflow)$ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_3.launch
```
### [Stage 4 (Combination Obstacle)](#stage-4-combination-obstacle)
Stage 4 is a 5x5 map with walls and two cylinders of moving obstacles.

![](/assets/images/platform/turtlebot3/machine_learning/stage_4.jpg)
``` bash
$ roslaunch turtlebot3_gazebo turtlebot3_stage_4.launch
$ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_4.launch
(tensorflow)$ roslaunch turtlebot3_gazebo turtlebot3_stage_4.launch
(tensorflow)$ roslaunch turtlebot3_dqn turtlebot3_dqn_stage_4.launch
```

If you want to see graph, launch the graph launch file.

### [Show graph](#Show graph)
Install dependencys
``` bash
(tensorflow)$ conda install pyqt5
(tensorflow)$ conda install qtgraph
```

If you want to see graph, launch the graph launch file.
``` bash
$ roslaunch turtlebot3_dqn result_graph.launch
(tensorflow)$ roslaunch turtlebot3_dqn result_graph.launch
```