From c40f4785fc282b9143129bffd1fa7f553319e105 Mon Sep 17 00:00:00 2001 From: tangbin-git <1361180028@qq.com> Date: Sat, 4 Apr 2026 22:33:11 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BD=A6=E8=BE=86=E5=AD=98=E6=B4=BB=E5=88=A4?= =?UTF-8?q?=E6=96=AD=EF=BC=9A=E5=9C=A8=20carla=5Fenv=5Fmulti=5Fobs.py=20?= =?UTF-8?q?=E4=B8=AD=E5=A2=9E=E5=8A=A0=20=5Factor=5Falive()=EF=BC=8C?= =?UTF-8?q?=E7=94=A8=20is=5Falive()=20=E7=AD=89=E6=96=B9=E6=B3=95/?= =?UTF-8?q?=E5=B1=9E=E6=80=A7=E5=85=BC=E5=AE=B9=E5=86=99=E6=B3=95=EF=BC=8C?= =?UTF-8?q?=E6=9B=BF=E4=BB=A3=E9=94=99=E8=AF=AF=E7=9A=84=20vehicle.is=5Fal?= =?UTF-8?q?ive=20=E5=B8=83=E5=B0=94=E5=88=A4=E6=96=AD,=E8=AF=84=E4=BC=B0?= =?UTF-8?q?=E7=9B=AE=E6=A0=87=E7=82=B9=EF=BC=9Aparse=5Ftargets=20=E5=A2=9E?= =?UTF-8?q?=E5=8A=A0=E5=8E=BB=E7=A9=BA=E3=80=81=E6=A0=BC=E5=BC=8F=E6=A0=A1?= =?UTF-8?q?=E9=AA=8C=E4=B8=8E=E6=98=8E=E7=A1=AE=20ValueError=EF=BC=88?= =?UTF-8?q?=E6=A0=B9=E7=9B=AE=E5=BD=95=E4=B8=8E=20catkin=20=E4=B8=8B=20eva?= =?UTF-8?q?l=5Fagent.py=20=E5=9D=87=E5=B7=B2=E6=94=B9=EF=BC=89,ROS=20?= =?UTF-8?q?=E8=A1=A5=E4=B8=81,Catkin=20=E8=AE=AD=E7=BB=83=E8=84=9A?= =?UTF-8?q?=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/autonomous_driving_RL/MODIFICATIONS.md | 121 ++++++++++++++++++ .../carla_env_multi_obs.py | 39 ++++-- src/autonomous_driving_RL/eval_agent.py | 10 +- .../scripts/carla_env_multi_obs.py | 41 ++++-- .../src/carla_rl_ros/scripts/eval_agent.py | 8 +- .../src/carla_rl_ros/scripts/ros_eval_node.py | 23 +--- .../carla_rl_ros/scripts/ros_train_node.py | 22 +--- .../src/carla_rl_ros/scripts/train_agent.py | 3 +- src/autonomous_driving_RL/train_agent.py | 2 +- 9 files changed, 204 insertions(+), 65 deletions(-) create mode 100644 src/autonomous_driving_RL/MODIFICATIONS.md diff --git a/src/autonomous_driving_RL/MODIFICATIONS.md b/src/autonomous_driving_RL/MODIFICATIONS.md new file mode 100644 index 000000000..741c8404a --- /dev/null +++ b/src/autonomous_driving_RL/MODIFICATIONS.md @@ -0,0 +1,121 @@ +# autonomous_driving_RL 包修改说明 + +本文档记录对 `src/autonomous_driving_RL` 内相关文件的修改：**问题描述**、**造成的影响**、**修改原因**。 + +--- + +## 1. 训练/评估脚本错误导入 `carla_env` 子包 + +| 字段 | 内容 | +|------|------| +| **问题描述** | `train_agent.py`、`eval_agent.py` 使用 `from carla_env.carla_env_multi_obs import CarlaEnvMultiObs`，但仓库内**不存在** `carla_env/` 目录，仅存在同级模块 `carla_env_multi_obs.py`。 | +| **造成的影响** | 在包根目录执行 `python train_agent.py` / `python eval_agent.py` 时触发 `ModuleNotFoundError`，训练与评估无法启动。 | +| **修改原因** | 将导入改为 `from carla_env_multi_obs import CarlaEnvMultiObs`，与当前目录结构一致；运行时应将工作目录设为 `autonomous_driving_RL`（或把该目录加入 `PYTHONPATH`）。 | + +**涉及文件**：`train_agent.py`、`eval_agent.py`；另将 `home/wu/catkin_ws/.../scripts/train_agent.py` 中相同错误导入与无效参数一并修正（见第 8 节）。 + +--- + +## 8. Catkin `scripts/train_agent.py` 错误导入与不存在的构造参数 + +| 字段 | 内容 | +|------|------| +| **问题描述** | 该脚本使用 `from carla_env.carla_env_multi_obs import CarlaEnvMultiObs`，并向 `CarlaEnvMultiObs` 传入 `debug=False`，但环境类**无** `debug` 参数。 | +| **造成的影响** | 无法导入模块或运行即报 `TypeError: __init__() got an unexpected keyword argument 'debug'`。 | +| **修改原因** | 改为 `from carla_env_multi_obs import CarlaEnvMultiObs`，并删除 `debug` 参数，与根目录环境类定义一致。 | + +**涉及文件**：`home/wu/catkin_ws/src/carla_rl_ros/scripts/train_agent.py` + +--- + +## 2. 使用 `vehicle.is_alive` 判断 Actor 是否存活不可靠 + +| 字段 | 内容 | +|------|------| +| **问题描述** | CARLA Python API 中 `is_alive` 多为**方法** `is_alive()`；写成 `if not self.vehicle.is_alive` 时，得到的是**可调用对象**，在布尔上下文中几乎恒为真。 | +| **造成的影响** | 车辆已销毁后仍可能被当作存活，继续访问位置/速度导致异常，或无法及时结束 episode、错误计算奖励。 | +| **修改原因** | 新增 `_actor_alive(actor)`：对 `callable` 的 `is_alive` 执行调用，否则按属性布尔值处理，兼容不同 CARLA 版本绑定。 | + +**涉及文件**：`carla_env_multi_obs.py`，并与 `home/wu/catkin_ws/.../scripts/carla_env_multi_obs.py` 同步。 + +--- + +## 3. 裸 `except:` 捕获所有异常（含系统退出类） + +| 字段 | 内容 | +|------|------| +| **问题描述** | `_get_lane_offset`、`get_vehicle_transform` 等处使用 `except:`，等价于捕获 `BaseException`。 | +| **造成的影响** | 可能吞掉 `KeyboardInterrupt` / `SystemExit`，调试与优雅退出困难；不符合常见 Python 规范（如 PEP 8）。 | +| **修改原因** | 改为 `except Exception:`，仅处理一般运行时异常，保留对中断与退出的正常行为。 | + +**涉及文件**：`carla_env_multi_obs.py`（及 catkin 下同名脚本副本）。 + +--- + +## 4. CARLA 地址与端口写死，不利于多机与容器部署 + +| 字段 | 内容 | +|------|------| +| **问题描述** | `_connect_carla` 中硬编码 `carla.Client('localhost', 2000)`。 | +| **造成的影响** | CARLA 在远程主机或自定义端口时，必须改源码才能连接，易误提交本地配置。 | +| **修改原因** | 为 `CarlaEnvMultiObs.__init__` 增加可选参数 `carla_host`、`carla_port`；若为 `None`，则从环境变量 `CARLA_HOST`、`CARLA_PORT` 读取（默认 `localhost` / `2000`），与 `autonomous_driving_car` 包习惯一致。 | + +**涉及文件**：`carla_env_multi_obs.py`（及 catkin 脚本副本）。 + +--- + +## 5. 轨迹与车辆 ID 文件的文本编码未显式指定 + +| 字段 | 内容 | +|------|------| +| **问题描述** | 读写 `.last_vehicle_id.json`、`trajectory.csv` 时未指定 `encoding`。 | +| **造成的影响** | 在 Windows 默认非 UTF-8 区域设置下，路径或注释含非 ASCII 时可能出现编码错误或乱码。 | +| **修改原因** | 文本读写统一使用 `encoding='utf-8'`；轨迹 CSV 另加 `newline=''` 以符合 CSV 惯例。 | + +**涉及文件**：`carla_env_multi_obs.py`（根目录与 catkin 副本；根目录与副本均已对齐）。 + +--- + +## 6. `eval_agent.parse_targets` 对用户输入校验不足 + +| 字段 | 内容 | +|------|------| +| **问题描述** | `--targets` 字符串按 `;` 分割后直接 `split(",")`，缺少去空段与段内格式校验。 | +| **造成的影响** | 多余分号、错误段格式会导致 `ValueError`（解包失败）或坐标静默错误，排障困难。 | +| **修改原因** | 对每段 `strip()`、跳过空段；要求严格为 `x,y` 两段，否则抛出带上下文的 `ValueError`。 | + +**涉及文件**：`eval_agent.py`、`home/wu/catkin_ws/.../scripts/eval_agent.py` + +--- + +## 7. ROS 包装节点中 `__init__` 补丁破坏连接状态 + +| 字段 | 内容 | +|------|------| +| **问题描述** | `ros_train_node.py`、`ros_eval_node.py` 先在补丁里创建 `Client` 并设置 `self.client` / `self.world`，再调用原始 `CarlaEnvMultiObs.__init__`，而原始 `__init__` 会将 `self.client = None` 等**重新初始化**，覆盖已建立的连接。 | +| **造成的影响** | ROS 下训练/评估看似连上 CARLA，随后 `reset()` 仍按默认 localhost 重连，或逻辑与参数不一致，表现为随机连接失败或忽略 `~carla_host`。 | +| **修改原因** | 补丁改为仅通过 `kwargs.setdefault('carla_host', ...)` / `carla_port` 注入 ROS 参数，再调用原始 `__init__(*args, **kwargs)`，由环境类统一在 `reset()` 时 `_connect_carla()`；删除冗余的 `import time` / `import carla`（eval 侧未再使用）。 | + +**涉及文件**：`ros_train_node.py`、`ros_eval_node.py` + +--- + +## 修改总结（简要） + +- **可运行性**：修正根目录与 catkin `scripts` 下 `train_agent` / `eval_agent` 的模块导入，避免因缺少 `carla_env` 包而无法启动；去掉无效的 `debug` 构造参数。 +- **正确性**：用 `_actor_alive` 正确判断车辆存活；修复 ROS 节点中对 `CarlaEnvMultiObs.__init__` 的补丁逻辑，使 `~carla_host` / `~carla_port` 真正写入环境并在 `reset()` 中生效。 +- **健壮性**：裸 `except` 收窄为 `Exception`；`--targets` 解析更严格；JSON/CSV 读写显式 UTF-8。 +- **可配置性**：CARLA 主机与端口支持构造参数与环境变量 `CARLA_HOST` / `CARLA_PORT`，便于远程仿真与容器部署。 +- **副本同步**：`carla_env_multi_obs.py` 在包根目录与 `home/wu/catkin_ws/.../scripts/` 下内容已对齐，避免 ROS 与本地脚本行为分叉。 + +在 `autonomous_driving_RL` 目录下运行示例： + +```bash +# 可选 +export CARLA_HOST=127.0.0.1 +export CARLA_PORT=2000 +python train_agent.py --timesteps 10000 +python eval_agent.py --model_path ./checkpoints/best_model.zip +``` + +ROS 侧仍通过私有参数 `~carla_host`、`~carla_port` 配置（由补丁写入环境构造参数）。 diff --git a/src/autonomous_driving_RL/carla_env_multi_obs.py b/src/autonomous_driving_RL/carla_env_multi_obs.py index af73e7528..0685108d2 100644 --- a/src/autonomous_driving_RL/carla_env_multi_obs.py +++ b/src/autonomous_driving_RL/carla_env_multi_obs.py @@ -18,6 +18,19 @@ VEHICLE_ID_FILE = ".last_vehicle_id.json" +def _actor_alive(actor): + """兼容 CARLA 不同 Python API 中 is_alive 为方法或属性的情况。""" + if actor is None: + return False + alive = getattr(actor, "is_alive", None) + if callable(alive): + try: + return bool(alive()) + except Exception: + return False + return bool(alive) + + class CarlaEnvMultiObs(Env): def __init__( self, @@ -29,7 +42,9 @@ def __init__( map_name=None, # 指定地图（如 'Town10HD'） spawn_point_index=0, # spawn 点索引 random_spawn=False, # 是否随机 spawn - reward_weights=None # 奖励权重配置 + reward_weights=None, # 奖励权重配置 + carla_host=None, # None 时使用环境变量 CARLA_HOST，默认 localhost + carla_port=None, # None 时使用环境变量 CARLA_PORT，默认 2000 ): super().__init__() self.client = None @@ -64,6 +79,8 @@ def __init__( self.map_name = map_name self.spawn_point_index = spawn_point_index self.random_spawn = random_spawn + self._carla_host = carla_host if carla_host is not None else os.environ.get("CARLA_HOST", "localhost") + self._carla_port = int(carla_port) if carla_port is not None else int(os.environ.get("CARLA_PORT", "2000")) # 固定 4D 观测空间 self.observation_space = spaces.Box( @@ -79,7 +96,7 @@ def _connect_carla(self, max_retries=3, timeout=10.0): for attempt in range(max_retries): try: print(f"🔄 尝试连接 CARLA 服务器 (第 {attempt + 1} 次)...") - self.client = carla.Client('localhost', 2000) + self.client = carla.Client(self._carla_host, self._carla_port) self.client.set_timeout(timeout) self.world = self.client.get_world() if self.map_name and self.map_name not in self.world.get_map().name: @@ -130,7 +147,7 @@ def _destroy_last_run_vehicle(self): if not os.path.exists(VEHICLE_ID_FILE): return try: - with open(VEHICLE_ID_FILE, 'r') as f: + with open(VEHICLE_ID_FILE, 'r', encoding='utf-8') as f: data = json.load(f) last_id = data.get("vehicle_id") if isinstance(last_id, int): @@ -181,7 +198,7 @@ def spawn_vehicle(self): print(f"✅ 车辆生成成功 | ID={self._current_vehicle_id} | ({loc.x:.1f}, {loc.y:.1f})") try: - with open(VEHICLE_ID_FILE, 'w') as f: + with open(VEHICLE_ID_FILE, 'w', encoding='utf-8') as f: json.dump({"vehicle_id": self._current_vehicle_id}, f) except Exception as e: print(f"⚠️ 保存车辆ID失败: {e}") @@ -199,7 +216,7 @@ def _update_spectator_view(self): pass def get_observation(self): - if not self.vehicle or not self.vehicle.is_alive: + if not _actor_alive(self.vehicle): return np.zeros(4, dtype=np.float32) loc = self.vehicle.get_location() vel = self.vehicle.get_velocity() @@ -217,7 +234,7 @@ def _get_lane_offset(self): self.vehicle.get_location(), project_to_road=True ) return self.vehicle.get_location().distance(waypoint.transform.location) - except: + except Exception: return 5.0 # 默认远离车道 def _compute_reward(self, speed, lane_offset, action): @@ -263,7 +280,7 @@ def step(self, action): self._update_spectator_view() # 车辆死亡 - if not self.vehicle or not self.vehicle.is_alive: + if not _actor_alive(self.vehicle): obs = np.zeros(4, dtype=np.float32) return obs, self.reward_weights['collision'], True, False, {} @@ -298,11 +315,11 @@ def step(self, action): def get_vehicle_transform(self): """安全获取车辆当前位姿（Transform）""" - if not self.vehicle or not self.vehicle.is_alive: + if not _actor_alive(self.vehicle): return None try: return self.vehicle.get_transform() - except: + except Exception: return None def get_forward_waypoint(self, distance=3.0): @@ -337,7 +354,7 @@ def close(self): # 保存轨迹 if self.log_trajectory and self.trajectory_data: try: - with open(self.trajectory_log_file, 'w') as f: + with open(self.trajectory_log_file, 'w', encoding='utf-8', newline='') as f: f.write("x,y,speed\n") for x, y, speed in self.trajectory_data: f.write(f"{x:.3f},{y:.3f},{speed:.3f}\n") @@ -348,7 +365,7 @@ def close(self): # 清理 if self._collision_sensor: self._collision_sensor.destroy() - if not self.keep_alive and self.vehicle and self.vehicle.is_alive: + if not self.keep_alive and _actor_alive(self.vehicle): self.vehicle.destroy() elif self.keep_alive: print("ℹ️ 车辆已保留（下次运行将自动清理）") diff --git a/src/autonomous_driving_RL/eval_agent.py b/src/autonomous_driving_RL/eval_agent.py index 8492afb7e..1ee522be4 100644 --- a/src/autonomous_driving_RL/eval_agent.py +++ b/src/autonomous_driving_RL/eval_agent.py @@ -10,7 +10,7 @@ import numpy as np import carla from stable_baselines3 import PPO -from carla_env.carla_env_multi_obs import CarlaEnvMultiObs +from carla_env_multi_obs import CarlaEnvMultiObs import time @@ -32,7 +32,13 @@ def parse_targets(target_str): return [] targets = [] for pair in target_str.split(";"): - x, y = map(float, pair.split(",")) + pair = pair.strip() + if not pair: + continue + parts = pair.split(",") + if len(parts) != 2: + raise ValueError(f"目标点格式错误，应为 x,y：{pair!r}") + x, y = map(float, parts) targets.append(carla.Location(x=x, y=y, z=0.0)) return targets diff --git a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/carla_env_multi_obs.py b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/carla_env_multi_obs.py index 8405f7dbf..0f94f063e 100644 --- a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/carla_env_multi_obs.py +++ b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/carla_env_multi_obs.py @@ -18,6 +18,19 @@ VEHICLE_ID_FILE = ".last_vehicle_id.json" +def _actor_alive(actor): + """兼容 CARLA 不同 Python API 中 is_alive 为方法或属性的情况。""" + if actor is None: + return False + alive = getattr(actor, "is_alive", None) + if callable(alive): + try: + return bool(alive()) + except Exception: + return False + return bool(alive) + + class CarlaEnvMultiObs(Env): def __init__( self, @@ -29,7 +42,9 @@ def __init__( map_name=None, # 指定地图（如 'Town10HD'） spawn_point_index=0, # spawn 点索引 random_spawn=False, # 是否随机 spawn - reward_weights=None # 奖励权重配置 + reward_weights=None, # 奖励权重配置 + carla_host=None, # None 时使用环境变量 CARLA_HOST，默认 localhost + carla_port=None, # None 时使用环境变量 CARLA_PORT，默认 2000 ): super().__init__() self.client = None @@ -64,6 +79,8 @@ def __init__( self.map_name = map_name self.spawn_point_index = spawn_point_index self.random_spawn = random_spawn + self._carla_host = carla_host if carla_host is not None else os.environ.get("CARLA_HOST", "localhost") + self._carla_port = int(carla_port) if carla_port is not None else int(os.environ.get("CARLA_PORT", "2000")) # 固定 4D 观测空间 self.observation_space = spaces.Box( @@ -79,7 +96,7 @@ def _connect_carla(self, max_retries=3, timeout=10.0): for attempt in range(max_retries): try: print(f"🔄 尝试连接 CARLA 服务器 (第 {attempt + 1} 次)...") - self.client = carla.Client('localhost', 2000) + self.client = carla.Client(self._carla_host, self._carla_port) self.client.set_timeout(timeout) self.world = self.client.get_world() if self.map_name and self.map_name not in self.world.get_map().name: @@ -130,7 +147,7 @@ def _destroy_last_run_vehicle(self): if not os.path.exists(VEHICLE_ID_FILE): return try: - with open(VEHICLE_ID_FILE, 'r') as f: + with open(VEHICLE_ID_FILE, 'r', encoding='utf-8') as f: data = json.load(f) last_id = data.get("vehicle_id") if isinstance(last_id, int): @@ -181,7 +198,7 @@ def spawn_vehicle(self): print(f"✅ 车辆生成成功 | ID={self._current_vehicle_id} | ({loc.x:.1f}, {loc.y:.1f})") try: - with open(VEHICLE_ID_FILE, 'w') as f: + with open(VEHICLE_ID_FILE, 'w', encoding='utf-8') as f: json.dump({"vehicle_id": self._current_vehicle_id}, f) except Exception as e: print(f"⚠️ 保存车辆ID失败: {e}") @@ -199,7 +216,7 @@ def _update_spectator_view(self): pass def get_observation(self): - if not self.vehicle or not self.vehicle.is_alive: + if not _actor_alive(self.vehicle): return np.zeros(4, dtype=np.float32) loc = self.vehicle.get_location() vel = self.vehicle.get_velocity() @@ -217,7 +234,7 @@ def _get_lane_offset(self): self.vehicle.get_location(), project_to_road=True ) return self.vehicle.get_location().distance(waypoint.transform.location) - except: + except Exception: return 5.0 # 默认远离车道 def _compute_reward(self, speed, lane_offset, action): @@ -263,7 +280,7 @@ def step(self, action): self._update_spectator_view() # 车辆死亡 - if not self.vehicle or not self.vehicle.is_alive: + if not _actor_alive(self.vehicle): obs = np.zeros(4, dtype=np.float32) return obs, self.reward_weights['collision'], True, False, {} @@ -298,11 +315,11 @@ def step(self, action): def get_vehicle_transform(self): """安全获取车辆当前位姿（Transform）""" - if not self.vehicle or not self.vehicle.is_alive: + if not _actor_alive(self.vehicle): return None try: return self.vehicle.get_transform() - except: + except Exception: return None def get_forward_waypoint(self, distance=3.0): @@ -337,7 +354,7 @@ def close(self): # 保存轨迹 if self.log_trajectory and self.trajectory_data: try: - with open(self.trajectory_log_file, 'w') as f: + with open(self.trajectory_log_file, 'w', encoding='utf-8', newline='') as f: f.write("x,y,speed\n") for x, y, speed in self.trajectory_data: f.write(f"{x:.3f},{y:.3f},{speed:.3f}\n") @@ -348,7 +365,7 @@ def close(self): # 清理 if self._collision_sensor: self._collision_sensor.destroy() - if not self.keep_alive and self.vehicle and self.vehicle.is_alive: + if not self.keep_alive and _actor_alive(self.vehicle): self.vehicle.destroy() elif self.keep_alive: - print("ℹ️ 车辆已保留（下次运行将自动清理）") \ No newline at end of file + print("ℹ️ 车辆已保留（下次运行将自动清理）") diff --git a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/eval_agent.py b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/eval_agent.py index ac73dc7a3..73efc3172 100644 --- a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/eval_agent.py +++ b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/eval_agent.py @@ -32,7 +32,13 @@ def parse_targets(target_str): return [] targets = [] for pair in target_str.split(";"): - x, y = map(float, pair.split(",")) + pair = pair.strip() + if not pair: + continue + parts = pair.split(",") + if len(parts) != 2: + raise ValueError(f"目标点格式错误，应为 x,y：{pair!r}") + x, y = map(float, parts) targets.append(carla.Location(x=x, y=y, z=0.0)) return targets diff --git a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/ros_eval_node.py b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/ros_eval_node.py index 11327b42e..301c24516 100644 --- a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/ros_eval_node.py +++ b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/ros_eval_node.py @@ -7,7 +7,6 @@ import rospy import sys import os -import carla # 添加当前目录到 Python 路径 sys.path.append(os.path.dirname(__file__)) @@ -16,25 +15,11 @@ _original_init = carla_env_multi_obs.CarlaEnvMultiObs.__init__ -def _patched_init(self): - carla_host = rospy.get_param('~carla_host', 'localhost') - carla_port = rospy.get_param('~carla_port', 2000) - for attempt in range(3): - try: - rospy.loginfo(f"Connecting to CARLA at {carla_host}:{carla_port}") - self.client = carla.Client(carla_host, carla_port) - self.client.set_timeout(10.0) - self.world = self.client.get_world() - break - except Exception as e: - rospy.logwarn(f"Connection failed: {e}") - if attempt == 2: - raise Exception("Failed to connect to CARLA after 3 attempts") +def _patched_init(self, *args, **kwargs): + kwargs.setdefault('carla_host', rospy.get_param('~carla_host', 'localhost')) + kwargs.setdefault('carla_port', int(rospy.get_param('~carla_port', 2000))) + _original_init(self, *args, **kwargs) - # 调用原始 __init__ 完成其余初始化 - _original_init(self) - -# 替换原方法 carla_env_multi_obs.CarlaEnvMultiObs.__init__ = _patched_init if __name__ == '__main__': diff --git a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/ros_train_node.py b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/ros_train_node.py index d1ce3ac12..a64edb60f 100644 --- a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/ros_train_node.py +++ b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/ros_train_node.py @@ -2,29 +2,17 @@ import rospy import sys import os -import time sys.path.append(os.path.dirname(__file__)) import carla_env_multi_obs _original_init = carla_env_multi_obs.CarlaEnvMultiObs.__init__ -def _patched_init(self): - carla_host = rospy.get_param('~carla_host', 'localhost') - carla_port = rospy.get_param('~carla_port', 2000) - for attempt in range(3): - try: - rospy.loginfo(f"🔄 Connecting to CARLA at {carla_host}:{carla_port}") - self.client = carla.Client(carla_host, carla_port) - self.client.set_timeout(10.0) - self.world = self.client.get_world() - break - except Exception as e: - rospy.logwarn(f"⚠️ Retry {attempt+1}: {e}") - time.sleep(2) - else: - raise RuntimeError("❌ CARLA connection failed") - _original_init(self) +def _patched_init(self, *args, **kwargs): + """通过构造参数注入 ROS 中的 CARLA 地址，避免先连接再被 __init__ 清掉 client/world。""" + kwargs.setdefault('carla_host', rospy.get_param('~carla_host', 'localhost')) + kwargs.setdefault('carla_port', int(rospy.get_param('~carla_port', 2000))) + _original_init(self, *args, **kwargs) carla_env_multi_obs.CarlaEnvMultiObs.__init__ = _patched_init diff --git a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/train_agent.py b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/train_agent.py index f56abf0a7..bbdc38003 100644 --- a/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/train_agent.py +++ b/src/autonomous_driving_RL/home/wu/catkin_ws/src/carla_rl_ros/scripts/train_agent.py @@ -6,14 +6,13 @@ import os from stable_baselines3 import PPO from stable_baselines3.common.callbacks import CheckpointCallback -from carla_env.carla_env_multi_obs import CarlaEnvMultiObs +from carla_env_multi_obs import CarlaEnvMultiObs if __name__ == "__main__": # 创建环境 env = CarlaEnvMultiObs( random_spawn=True, max_episode_steps=1000, - debug=False ) # 日志和模型保存路径 diff --git a/src/autonomous_driving_RL/train_agent.py b/src/autonomous_driving_RL/train_agent.py index d0b6b038c..c5de783fd 100644 --- a/src/autonomous_driving_RL/train_agent.py +++ b/src/autonomous_driving_RL/train_agent.py @@ -12,7 +12,7 @@ from stable_baselines3.common.env_util import make_vec_env from stable_baselines3.common.monitor import Monitor from stable_baselines3.common.callbacks import EvalCallback, CheckpointCallback -from carla_env.carla_env_multi_obs import CarlaEnvMultiObs +from carla_env_multi_obs import CarlaEnvMultiObs def main():