new eval files

rogeriobonatti · Feb 24, 2022 · 5e864b9 · 5e864b9
1 parent 34bb470
commit 5e864b9
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Showing 5 changed files with 1,030 additions and 4 deletions.
diff --git a/mushr_rhc_ros/launch/sim/sim_model_deploy.launch b/mushr_rhc_ros/launch/sim/sim_model_deploy.launch
@@ -8,9 +8,10 @@
     </group>
 
     <group ns="$(arg car_name)">
+        <node pkg="mushr_rhc_ros" type="rhcnode_network_iros.py" name="rhcontroller" output="screen">
         <!-- <node pkg="mushr_rhc_ros" type="rhcnode_network_shuang.py" name="rhcontroller" output="screen"> -->
         <!-- <node pkg="mushr_rhc_ros" type="rhcnode_network.py" name="rhcontroller" output="screen"> -->
-        <node pkg="mushr_rhc_ros" type="rhcnode_network_prime.py" name="rhcontroller" output="screen">
+        <!-- <node pkg="mushr_rhc_ros" type="rhcnode_network_prime.py" name="rhcontroller" output="screen"> -->
             <env name="RHC_USE_CUDA" value="0" />
 
             <param name="inferred_pose_t" value="car_pose" />

diff --git a/mushr_rhc_ros/launch/sim/sim_server_eval.launch b/mushr_rhc_ros/launch/sim/sim_server_eval.launch
@@ -0,0 +1,30 @@
+<launch>
+    <arg name="tg" default="dispersion" />
+	<arg name="map_server" default="1" />
+	<arg name="car_name" default="car" />
+
+    <arg name="out_path" default="/home/rb/hackathon_data/e2e_eval/model_test" />
+    <arg name="model_path" default="/home/rb/hackathon_data/aml_outputs/log_output/normal-kingfish/GPTiros_e2e_8gpu_2022-02-17_1645120431.7528405_2022-02-17_1645120431.7528613/model/epoch10.pth.tar" />
+
+    <group if="$(arg map_server)">
+	<include file="$(find mushr_rhc_ros)/launch/map_server.launch" />
+    </group>
+
+    <group ns="$(arg car_name)">
+        <node pkg="mushr_rhc_ros" type="rhcnode_network_iros.py" name="rhcontroller" output="screen">
+            <env name="RHC_USE_CUDA" value="0" />
+
+            <param name="out_path" value="$(arg out_path)" />
+            <param name="model_path" value="$(arg model_path)" />
+
+            <param name="inferred_pose_t" value="car_pose" />
+
+            <param name="car_name" value="$(arg car_name)" />
+
+            <rosparam file="$(find mushr_rhc_ros)/launch/params/trajgen/$(arg tg).yaml" />
+            <rosparam file="$(find mushr_rhc_ros)/launch/params/all_params.yaml" />
+            <rosparam file="$(find mushr_rhc_ros)/launch/sim/params.yaml" />
+        </node>
+    </group>
+
+</launch>