git commit -m "first commit"

mir_robot/mir_dwb_critics/nodes/plot_dwb_scores.py

@@ -0,0 +1,94 @@
+#!/usr/bin/env python3
+# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the the copyright holder nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Martin Günther
+
+import os
+import tkinter
+import matplotlib.pyplot as plt
+import numpy as np
+
+import rospy
+from dwb_msgs.msg import LocalPlanEvaluation
+
+fig = None
+rects = None
+max_score = 0.0
+
+
+def eval_cb(msg):
+    global fig, rects, max_score
+    labels = [s.name for s in msg.twists[msg.best_index].scores]
+    scaled_scores = [s.scale * s.raw_score for s in msg.twists[msg.best_index].scores]
+
+    # reverse labels + scaled_scores to show the critics in the correct order top to bottom
+    labels.reverse()
+    scaled_scores.reverse()
+
+    if not fig:
+        # init
+        y = np.arange(len(labels))  # the label locations
+        height = 0.35  # the height of the bars
+
+        fig, ax = plt.subplots()
+        rects = ax.barh(y - height / 2, scaled_scores, height, label='scaled score')
+
+        ax.set_ylabel('DWB Critics')
+        ax.set_title('Scaled scores')
+        ax.set_yticks(y)
+        ax.set_yticklabels(labels)
+
+        fig.tight_layout()
+        fig.canvas.set_window_title('DWB Scores')
+
+    # update axis limit
+    if max_score < max(scaled_scores):
+        max_score = max(scaled_scores)
+        plt.xlim(0.0, max_score)
+
+    for rect, h in zip(rects, scaled_scores):
+        rect.set_width(h)
+    try:
+        fig.canvas.draw()
+        fig.canvas.flush_events()
+    except tkinter.TclError:
+        rospy.loginfo('Window was closed, exiting.')
+        os._exit(0)
+
+
+def main():
+    rospy.init_node('plot_dwb_scores')
+    rospy.Subscriber('move_base_node/DWBLocalPlanner/evaluation', LocalPlanEvaluation, eval_cb)
+    rospy.loginfo('plot_dwb_scores ready.')
+    plt.ion()
+    rospy.spin()
+
+
+if __name__ == '__main__':
+    main()

mir_robot/mir_dwb_critics/nodes/print_dwb_scores.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the the copyright holder nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Martin Günther
+
+import rospy
+
+from dwb_msgs.msg import LocalPlanEvaluation
+
+
+def eval_cb(msg):
+    print('\n\n=========================================================\n\n')
+    for heading, i in zip(['best trajectory', 'worst trajectory'], [msg.best_index, msg.worst_index]):
+        print('### {}\n'.format(heading))
+        print('Name                 |       Raw |   Scale | Scaled Score')
+        print('---------------------|-----------|---------|-------------')
+        for s in msg.twists[i].scores:
+            print('{:20} | {:9.4f} | {:7.4f} | {:12.4f}'.format(s.name, s.raw_score, s.scale, s.raw_score * s.scale))
+        print('---------------------------------------- total: {:9.4f}'.format(msg.twists[i].total))
+        print()
+
+
+def main():
+    rospy.init_node('print_dwb_scores', anonymous=True)
+    rospy.Subscriber('move_base_node/DWBLocalPlanner/evaluation', LocalPlanEvaluation, eval_cb)
+    rospy.loginfo('print_dwb_scores ready.')
+    rospy.spin()
+
+
+if __name__ == '__main__':
+    main()