8/18

Add debug_publisher to let user to echo value for training(LiDAR data, reward...)

turtlebot3_rl/setup.py

@@ -22,6 +22,7 @@
         'console_scripts': [
             'train = turtlebot3_rl.train:main',
             'test = turtlebot3_rl.test:main',
+            'debug = turtlebot3_rl.debug_publisher:main',
         ],
     },
 )

turtlebot3_rl/turtlebot3_rl/debug_publisher.py

@@ -0,0 +1,25 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+class DebugPublisher(Node):
+    def __init__(self):
+        super().__init__('debug_publisher')
+        self.debug_pub = self.create_publisher(String, 'debug_info', 10)
+
+    def publish_debug_info(self, scan_data, action, reward, done):
+        # Truncate scan data for display and round for clarity
+        scan_str = ', '.join([f'{x:.2f}' for x in scan_data[:10]])
+        action_str = ', '.join([f'{x:.2f}' for x in action])
+
+        # Format the message
+        debug_msg = String()
+        debug_msg.data = (
+            f"Scan Data: [{scan_str}]...\n"
+            f"Action: [{action_str}]\n"
+            f"Reward: {reward:.2f}\n"
+            f"Done: {done}\n"
+            "=============================="
+        )
+
+        self.debug_pub.publish(debug_msg)