https://github.com/bdrhnsen/auto-ros-node-from-gym

Automatically generate ROS nodes from Gymnasium Environments
https://github.com/bdrhnsen/auto-ros-node-from-gym

gymnasium gymnasium-environment openai-gym reinforcement-learning robot-operating-system ros2

Last synced: 10 days ago
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Automatically generate ROS nodes from Gymnasium Environments

• Host: GitHub
• URL: https://github.com/bdrhnsen/auto-ros-node-from-gym
• Owner: bdrhnsen
• Created: 2025-01-07T21:59:50.000Z (9 months ago)
• Default Branch: main
• Last Pushed: 2025-01-07T22:12:50.000Z (9 months ago)
• Last Synced: 2025-01-07T23:20:55.362Z (9 months ago)
• Topics: gymnasium, gymnasium-environment, openai-gym, reinforcement-learning, robot-operating-system, ros2
• Language: Python
• Homepage:
• Size: 26.4 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# ROS-Gym Automation

A framework for automatically generating ROS2 nodes from Gymnasium environments.

## Features

- Automatic ROS2 node generation for Gym environments

- Support for both discrete and continuous action spaces

- Support for vector and image-based observations

- Configurable QoS settings

- ROS2 lifecycle node implementation

- Launch file generation

- Environment parameter configuration

## Prerequisites

- ROS2 (Humble or later)

- Python 3.8+

- Gymnasium

- numpy

# Installation

## Clone the repository

git clone https://github.com/bdrhnsen/Auto-Ros-Node-From-Gym.git

cd ros-gym-automation

## Create and activate virtual environment

python -m venv venv

source venv/bin/activate

## Install dependencies

pip install -r requirements.txt

## Build ROS2 package

colcon build

source install/setup.bash

# Quick Start

## Generate environment node

ros-gym-gen env CartPole-v1 my_workspace

## Generate agent node

ros-gym-gen agent my_agent my_workspace --env-id=CartPole-v1

## Launch nodes

ros2 launch my_package cartpole_v1_my_agent.launch.py

# Project Structure

ros_gym_automation/

├── docs/                    # Documentation

│   ├── api/                # API documentation

│   ├── usage.txt           # Usage guide

│   └── installation.txt    # Installation guide

├── examples/               # Example implementations

│   ├── cartpole_example/

├── src/                    # Source code

│   └── ros_gym_automation/

│       ├── core/          # Core framework classes

│       ├── generators/    # Node generators

│       ├── utils/        # Utility functions

│       └── templates/    # Jinja2 templates

└── tests/                 # Test suite

# Documentation

### Core Components

1. Environment Wrapper

   - Handles Gym environment initialization

   - Manages environment lifecycle

   - Provides ROS2 interface conversion

2. Node Generators

   - Environment node generator

   - Agent node generator

   - Launch file generator

   - Configuration generator

3. Message Types

   - Observation messages

   - Action messages

   - Reward messages

   - Environment status messages

4. Services

   - Reset service

   - Configure service

   - Environment control services

### Usage Examples

1. Basic Environment Node:

   #### Generate and run CartPole environment

   ros-gym-gen env CartPole-v1 my_workspace

   ros2 run my_package cartpole_v1_node

2. Custom Configuration:

   #### Create config file

   environment:

     render_mode: 'rgb_array'

     max_episode_steps: 1000

   #### Generate with config

   ros-gym-gen env CartPole-v1 my_workspace --config=config.yaml

3. Agent Node:

   #### Generate agent node

   ros-gym-gen agent my_agent my_workspace \

       --env-id=CartPole-v1 \

       --config=agent_config.yaml

4. Launch File:

   ## Generate both nodes with launch file

   ros-gym-gen env CartPole-v1 my_workspace \

       --agent-name=my_agent \

       --agent-config=agent_config.yaml

### Configuration

1. Environment Configuration:

   - Render mode

   - Episode limits

   - Environment parameters

   - QoS settings

2. Agent Configuration:

   - Model parameters

   - Observation processing

   - Action generation

   - Training settings

3. ROS2 Configuration:

   - Node names

   - Topic names

   - QoS profiles

   - Namespace settings

# Testing

## Run all tests

python -m pytest tests/

## Run specific test suite

python -m pytest tests/test_core_components.py

python -m pytest tests/test_environment_types.py

python -m pytest tests/test_integration.py