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/AWS DeepRacer/

Questions tagged with AWS DeepRacer

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how to use "deepracer_inferfaces_pkg"

I want to use matlab to learn deepracer. If you proceed with the ros2 topic list in the deepracer, /camera_pkg/display_mjpeg /camera_pkg/video_mjpeg /ctrl_pkg/raw_pwm /ctrl_pkg/servo_msg /deepracer_navigation_pkg/auto_drive /deepracer_systems_pkg/network_connection_status /deepracer_systems_pkg/software_update_pct /inference_pkg/rl_results /parameter_events /rosout /rplidar_ros/scan /sensor_fusion_pkg/overlay_msg /sensor_fusion_pkg/sensor_msg /usb_monitor_pkg/usb_file_system_notification /webserver_pkg/calibration_drive /webserver_pkg/manual_drive The above is output, but in practice, it cannot be used except for display_mjpeg, overlay_msg, /rplidar_ros/scan. When I looked up the reason, ros2 topic echo /camera_pkg/video_mjpeg Traceback (most recent call last): File "/opt/ros/foxy/bin/ros2", line 11, in <module> load_entry_point('ros2cli==0.9.8', 'console_scripts', 'ros2')() File "/opt/ros/foxy/lib/python3.8/site-packages/ros2cli/cli.py", line 67, in main rc = extension.main(parser=parser, args=args) File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/command/topic.py", line 41, in main return extension.main(args=args) File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/verb/echo.py", line 81, in main return main(args) File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/verb/echo.py", line 95, in main message_type = get_msg_class(node, args.topic_name, include_hidden_topics=True) File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/api/__init__.py", line 88, in get_msg_class msg_class = _get_msg_class(node, topic, include_hidden_topics) File "/opt/ros/foxy/lib/python3.8/site-packages/ros2topic/api/__init__.py", line 133, in _get_msg_class return get_message(message_type) File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_runtime_py/utilities.py", line 28, in get_message interface = import_message_from_namespaced_type(get_message_namespaced_type(identifier)) File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_runtime_py/import_message.py", line 30, in import_message_from_namespaced_type module = importlib.import_module( File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module return _bootstrap._gcd_import(name[level:], package, level) File "<frozen importlib._bootstrap>", line 1014, in _gcd_import File "<frozen importlib._bootstrap>", line 991, in _find_and_load File "<frozen importlib._bootstrap>", line 961, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed File "<frozen importlib._bootstrap>", line 1014, in _gcd_import File "<frozen importlib._bootstrap>", line 991, in _find_and_load File "<frozen importlib._bootstrap>", line 973, in _find_and_load_unlocked ModuleNotFoundError: No module named 'deepracer_interfaces_pkg' As above, it is said that the depth_interfaces_pkg cannot be found. However, I completed the build after installation as shown below. (https://github.com/aws-deepracer/aws-deepracer-interfaces-pkg) I wait for an answer to what I should do to use the deepacer-interfaces-pkg in the deepracer. Please tell me how to solve this problem.
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asked 2 months ago

updated reward function to speed up but not working as expected.

Hi I updated reward_function to speed up using params\['steps'] but not working as expected. The reward_function is this ===================================== def reward_function(params): ''' Example of rewarding the agent to follow center line ''' reward=1e-3 # Read input parameters track_width = params\['track_width'] distance_from_center = params\['distance_from_center'] steering = params\['steering_angle'] speed = params\['speed'] all_wheels_on_track = params\['all_wheels_on_track'] steps = params\['steps'] progress = params\['progress'] # Total num of steps we want the car to finish the lap, it will vary depends on the track length TOTAL_NUM_STEPS = 300 if distance_from_center >=0.0 and distance_from_center <= 0.03: reward = 1.0 if not all_wheels_on_track: reward = reward -1 else: reward = reward + progress # add speed penalty if speed < 1.0: reward *=0.80 else: reward += speed **# Give additional reward if the car pass every 100 steps faster than expected** **if (steps % 50) == 0 and progress > (steps / TOTAL_NUM_STEPS) :** **reward += 10.0** return float(reward) ================================================== There was no lines with bold in previous model. I trained for 5 hours but the result is slower than before. with Previous model, I could get 21~24 seconds to run the Empire City track but with the new model after training for 5 hour, I am getting 24~27 seconds. Other Action space and hyperparameters are same. Anybody knows why the result is slower than before?
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asked 3 years ago

Redis connection timeout...

Hi, Trying to train a deep racer using the vanilla github setup (including redis setup in training_worker.py). Redis sets up fine every time but I get a redis connection error when the simulation complete the first episode of 20 runs. Sagemaker start and Robomaker errors logs below. I have searched high and low to find out what is going wrong and no luck - any assistance appreciated! Excerpt of Sagemaker cloudwatch logs on start up related to redis: --- 22:14:50 Invoking script with the following command: 22:14:50 /usr/bin/python training_worker.py --RLCOACH_PRESET deepracer --aws_region us-east-1 --s3_bucket sagemaker-us-east-1-158249709041 --s3_prefix rl-deepracer-sagemaker-190413-220444 22:14:51 211:C 13 Apr 2019 22:14:51.317 # oO0OoO0OoO0Oo Redis is starting oO0OoO0OoO0Oo 22:14:51 211:C 13 Apr 2019 22:14:51.317 # Redis version=5.0.3, bits=64, commit=00000000, modified=0, pid=211, just started 22:14:51 211:C 13 Apr 2019 22:14:51.317 # Configuration loaded 22:14:51 211:M 13 Apr 2019 22:14:51.319 * Running mode=standalone, port=6379. 22:14:51 211:M 13 Apr 2019 22:14:51.319 # WARNING: The TCP backlog setting of 511 cannot be enforced because /proc/sys/net/core/somaxconn is set to the lower value of 128. 22:14:51 211:M 13 Apr 2019 22:14:51.319 # Server initialized 22:14:51 211:M 13 Apr 2019 22:14:51.319 # WARNING overcommit_memory is set to 0! Background save may fail under low memory condition. To fix this issue add 'vm.overcommit_memory = 1' to /etc/sysctl.conf and then reboot or run the command 'sysctl vm.overcommit_memory=1' for this to take effect. 22:14:51 211:M 13 Apr 2019 22:14:51.319 # WARNING you have Transparent Huge Pages (THP) support enabled in your kernel. This will create latency and memory usage issues with Redis. To fix this issue run the command 'echo never > /sys/kernel/mm/transparent_hugepage/enabled' as root, and add it to your /etc/rc.local in order to retain the setting after a reboot. Redis must be restarted after THP is disabled. 22:14:51 211:M 13 Apr 2019 22:14:51.319 * Ready to accept connections 22:14:56 Redis server started successfully! 22:14:57 Uploaded IP address information to S3: 172.31.27.217 --- Excerpt from robomaker cloud watch logs where it bombs is below (note I've customized some of the messages): --- 22:17:27 Step No=7.00 Step Reward=8.1870 On track?=True Dist from centre=0.02 Frame Progress=0.0000 Total Progress=6.6870 To Finish=93.31 X, Y, Z=2.17, 0.60, 0.00 22:17:27 Action sent to Ros/Gazebo... 22:17:27 Message recieved from Ros/Gazebo... on_track=True 22:17:27 Step No=8.00 Step Reward=8.1870 On track?=True Dist from centre=0.02 Frame Progress=0.0000 Total Progress=6.6870 To Finish=93.31 X, Y, Z=2.19, 0.60, 0.00 22:21:49 Traceback (most recent call last): 22:21:49 File "/home/robomaker/workspace/bundle-store/b56d2ca1-05a5-4aa6-b6d2-84b6766f0d8b/usr/local/lib/python3.5/dist-packages/redis/connection.py", line 484, in connect 22:21:49 sock = self._connect() 22:21:49 File "/home/robomaker/workspace/bundle-store/b56d2ca1-05a5-4aa6-b6d2-84b6766f0d8b/usr/local/lib/python3.5/dist-packages/redis/connection.py", line 541, in _connect 22:21:49 raise err 22:21:49 File "/home/robomaker/workspace/bundle-store/b56d2ca1-05a5-4aa6-b6d2-84b6766f0d8b/usr/local/lib/python3.5/dist-packages/redis/connection.py", line 529, in _connect 22:21:49 sock.connect(socket_address) 22:21:49 TimeoutError: Errno 110 Connection timed out --- Further down the error log... --- 22:21:49 File "/home/robomaker/workspace/bundle-store/b56d2ca1-05a5-4aa6-b6d2-84b6766f0d8b/usr/local/lib/python3.5/dist-packages/redis/connection.py", line 489, in connect 22:21:49 raise ConnectionError(self._error_message(e)) 22:21:49 redis.exceptions.ConnectionError: Error 110 connecting to 172.31.27.217:6379. Connection timed out. 22:21:50 ================================================================================REQUIRED process agent-9 has died! 22:21:50 process has died pid 133, exit code 1, cmd /home/robomaker/workspace/bundle-store/b56d2ca1-05a5-4aa6-b6d2-84b6766f0d8b/opt/install/deepracer_simulation/lib/deepracer_simulation/run_rollout_rl_agent.sh __name:=agent __log:=/home/robomaker/.ros/log/8bfee468-5e39-11e9-a84a-0242a9fe0103/agent-9.log. 22:21:50 log file: /home/robomaker/.ros/log/8bfee468-5e39-11e9-a84a-0242a9fe0103/agent-9*.log 22:21:50 Initiating shutdown! 22:21:50 ================================================================================ 22:21:51 agent-9 killing on exit Edited by: axb2035 on Apr 15, 2019 2:53 AM Edited by: axb2035 on Apr 15, 2019 2:56 AM
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asked 3 years ago
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