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name: drl-robot-navigation description: "Guide ROS/Gazebo Velodyne mobile-robot navigation with the DRL-robot-navigation TD3 implementation, including simulator setup, environment contracts, bounded training, checkpoints, and policy evaluation." disable-model-invocation: true metadata: disco-role: operating license: MIT

DRL robot navigation

Use this repo skill when a task involves the reiniscimurs/DRL-robot-navigation workflow: Deep-RL navigation of a Pioneer 3-DX-style robot in Gazebo, using a simulated Velodyne PointCloud2 sensor, ROS Noetic, PyTorch TD3, checkpoints, or TensorBoard. This is a Researcher operating graph, not a general ROS tutorial and not a replacement for a live simulator.

Route the request

• Build, ROS/Gazebo startup, Docker/headless execution, xacro, topics, or missing simulator tools: read simulation-setup.
• Observation length, Velodyne angular bins, action scaling, reset/step, collision, goal, or reward semantics: read navigation-environment.
• Actor/critic architecture, replay buffer, TD3 hyperparameters, bounded training, checkpoint creation, or TensorBoard: read td3-training.
• Loading an actor, validating .pth files, or running bounded policy evaluation: read policy-evaluation.
• A task spanning setup and execution: start with simulation-setup, then hand the state/action contract to navigation-environment and the model artifact to td3-training or policy-evaluation.

Baseline and prerequisites

The public README targets Ubuntu 20.04/ROS Noetic, Python 3.8.10, PyTorch 1.10, TensorBoard, Gazebo, catkin, xacro, and the ROS packages needed by Gazebo and RViz. The Python programs also use NumPy and squaternion. This repository has no Python packaging metadata or installable distribution: keep TD3/ on the runtime import path and treat ROS as a system/runtime dependency.

For a simulator run, require a built catkin workspace, a running ROS master, Gazebo ROS services, the Velodyne plugin, /r1/odom, /r1/cmd_vel, and /velodyne_points. Do not replace the Velodyne topic with a 2-D laser without also changing and validating the observation contract.

The smallest safe Python checks do not need ROS. Run the bundled helpers from their own directories or with absolute paths; they do not import the source training modules:

python3 sub-skills/navigation-environment/scripts/validate_navigation_contract.py self-test
python3 sub-skills/td3-training/scripts/replay_buffer_smoke.py
python3 sub-skills/td3-training/scripts/td3_model_smoke.py --device cpu
python3 sub-skills/policy-evaluation/scripts/check_policy_artifacts.py --help

Use --check-cuda only as an optional PyTorch device probe. It does not prove that Gazebo GPU ray sensing works. Use the setup checker before any launch:

python3 sub-skills/simulation-setup/scripts/check_ros_prerequisites.py \
  --workspace <catkin-workspace> --json

A passing static checker or Python smoke is not a live ROS/Gazebo result. Read references/troubleshooting.md for the cross-cutting failure boundary, and references/repo-provenance.md before deciding whether a checkout has drifted from this graph.

Safety and reproducibility rules

1. Do not import train_velodyne_td3.py or test_velodyne_td3.py merely to inspect classes: both execute module-level simulator/training behavior.
2. Keep real training and evaluation bounded during development. The source defaults to millions of steps and the reference evaluator loops forever.
3. Preserve normalized TD3 actions in replay. Convert only the linear component for GazeboEnv.step: [(a[0] + 1) / 2, a[1]].
4. Validate a 24-value state, 2-value action, checkpoint dimensions, and live topics before attributing a bad score to the policy.
5. Use temporary output directories for smoke runs. Do not run broad killall cleanup commands or build a network-dependent Docker image without explicit approval.
6. Report missing ROS/Gazebo, unavailable services, blocked hardware, skipped native cases, and incomplete evaluations as limitations—not as model failure.

Evidence boundary

The graph was distilled from the pinned repository README, TD3 implementation, catkin launch/configuration files, and the vendored Velodyne simulator metadata. The source checkout is evidence, not a runtime dependency. The vendored sensor package is summarized only to the extent needed to configure and diagnose this navigation workflow.