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AutoRally Imitation Learning

imlearn_autorally is a ROS package that uses the imlearn imitation learning library for end-to-end and imitation learning on the AutoRally platform.

ACDS Development

imlearn_autorally uses Git submodules to pull in the imlearn repository. It tracks the devel branch by default.

Using submodules

The use of submodules means that the following commands should be used instead of/in addition to the usual git commands.

Clone:
git clone --recursive https://github.gatech.edu/ksaigol3/imlearn_autorally.git
Update submodule (from the parent folder):
git submodule update --remote
  • Update and merge remote changes on top of local changes:
    git submodule update --remote --merge
  • Rewind changes, apply remote changes, then replay local changes:
    git submodule update --remote --rebase
Push the parent repository without pushing changes in the imlearn submodule (from the parent folder):
git push
Prevent pushing changes to the parent repository if changes to the submodules have not been pushed:
git push --recurse-submodules=check
Attempt to push submodules (if needed) before pushing parent:
git push --recurse-submodules=on-demand
Change the submodule branch being tracked:
cd src/imitation_learning; git checkout <branch-name>

Adding executables (ROS nodes, tests, executable scripts)

Nodes, tests, and other Python scripts that are executable should be:

  • put into the correct directory (usually tests/ or scripts/)
  • marked as executable (chmod +x <filename>)
  • listed in the scripts list in setup.py

DO NOT run setup.py manually. It will be called by catkin whenever you run catkin_make. Remember to source devel/setup.bash after running catkin_make.