WalkYTo

:Walk Yourself, Toddler!

Hanyang University, Robotics, CPS & AI LAB

Undergraduate Researcher Program

Junyeob Beak(wnsdlqjtm@naver.com), Hyeonwoo Park(ppaa1135@naver.com), Seunghwan Yu(sinanju06@naver.com)

Nessesary for user to launch this project.

• "gazebo_ros_pkgs" for graphic simulation -- ros package
• "neat-python" for genetic network model -- python module
• "tensorflow" for DQN implementation -- python module

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Gazebo Simulation System

with bell_and_faraday launch file

Commend for launch

roslaunch walkyto bell_and_faraday_world.launch

if you want to run gazebo simulator, with the argment GUI:=true

roslaunch walkyto bell_and_faraday_world.launch GUI:=true

Package Abstract

• /launch : has launch files to launch processes with certain parameters.
• /models : has our robot descriptions(bell & faraday).
• /src : has main sources.
  • network_gen.py : networks generator code. This process generate genes and save in the /genes directory. Then choose random 4 genes and give the genes to the simulator until all population is done.
  • simulator.py : When receive the genes from generator, simulate the network. During the simulating, this process communicate with gazebo.
  • /genes : gene files generated from network generator.
  • neat-checkpoint-* : save generation files(pickle)
  • Other files are for supporting above files. Please focus on the every first lines with 'import' code.
• /srv : has a service file for generator to communicate with simulators.
• /worlds : has world files. It includes informations to describe physics and simulation env. configuration.