Merge pull request #88 from ROBOTIS-GIT/feature-fix-jason-label-error

DQN updates

Author: GyuH13

README.md

@@ -1,8 +1,8 @@
 # TurtleBot3
 <img src="https://raw.githubusercontent.com/ROBOTIS-GIT/emanual/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
 
-- Active Branches: noetic, humble, jazzy, main(rolling)
-- Legacy Branches: *-devel
+- Active Branches: humble, jazzy, main(rolling)
+- Legacy Branches: *-devel, noetic
 
 ## Open Source Projects Related to TurtleBot3
 - [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
@@ -17,6 +17,7 @@
 - [turtlebot3_home_service_challenge](https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge)
 - [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver)
 - [ld08_driver](https://github.com/ROBOTIS-GIT/ld08_driver)
+- [coin_d4_driver](https://github.com/ROBOTIS-GIT/coin_d4_driver)
 - [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
 - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
 - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)

turtlebot3_dqn/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package turtlebot3_dqn
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.2 (2026-01-06)
+------------------
+* Fixed a bug in the JSON file where the step parameter was incorrectly named; renamed it to step_counter.
+* Changed the system arguments to be passed as ROS parameters for execution.
+* Added a use_gpu parameter to allow selection of whether to use GPU.
+* Added a model_file parameter to enable loading an existing trained model and continuing training.
+* Renamed the load_model variable to use_pretrained_model for clarity.
+* Changed model_path from a class variable to a local variable.
+* Introduced lazy import for TensorFlow modules.
+* Contributors: Hyungyu Kim
+
 1.0.1 (2025-05-02)
 ------------------
 * Support for ROS 2 Jazzy version

turtlebot3_dqn/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>turtlebot3_dqn</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>
     The turtlebot3_dqn package using reinforcement learning with DQN (Deep Q-Learning).
   </description>
@@ -12,11 +12,10 @@
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning/issues</url>
   <author email="[email protected]">Gilbert</author>
   <author email="[email protected]">ChanHyeong Lee</author>
+  <author email="[email protected]">Hyungyu Kim</author>
   <exec_depend>python3-pip</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>python-tensorflow-pip</exec_depend>
-  <exec_depend>python3-numpy</exec_depend>
   <exec_depend>python3-pyqt5</exec_depend>
   <exec_depend>python3-pyqtgraph</exec_depend>
   <exec_depend>rclpy</exec_depend>

turtlebot3_dqn/saved_model/model1.h5

@@ -0,0 +1 @@
+{"epsilon": 0.05000073888272134, "step_counter": 84401, "trained_episodes": 800}

turtlebot3_dqn/saved_model/model1.json

@@ -8,20 +8,28 @@
     ('Gilbert', '[email protected]'),
     ('Ryan Shim', 'N/A'),
     ('ChanHyeong Lee', '[email protected]'),
+    ('Hyungyu Kim', '[email protected]'),
 ]
 authors = ', '.join(author for author, _ in authors_info)
 author_emails = ', '.join(email for _, email in authors_info)
 
 setup(
     name=package_name,
-    version='1.0.1',
+    version='1.0.2',
     packages=find_packages(),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         ('share/' + package_name + '/launch', glob.glob('launch/*.py')),
     ],
-    install_requires=['setuptools', 'launch'],
+    install_requires=[
+        'setuptools',
+        'launch',
+        'tensorflow==2.19.0',
+        'numpy==1.26.4',
+        'scipy==1.10.1',
+        'keras==3.9.2',
+    ],
     zip_safe=True,
     author=authors,
     author_email=author_emails,