Hanyang University, Robotics, CPS & AI LAB
Undergraduate Researcher Program
Junyeob Beak(wnsdlqjtm@naver.com), Hyeonwoo Park(ppaa1135@naver.com), Seunghwan Yu(sinanju06@naver.com)
- "gazebo_ros_pkgs" for graphic simulation -- ros package
- "neat-python" for genetic network model -- python module
- "tensorflow" for DQN implementation -- python module
with bell_and_faraday launch file
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
/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.