MAPPO-Tracking

创建conda环境

conda create -n mappo_noetic python=3.8 -y
conda activate mappo_noetic
pip install -U pip
pip install numpy>=1.21 PyYAML>=6.0 catkin_pkg rospkg
conda install pytorch==2.4.1 torchvision==0.19.1 torchaudio==2.4.1 pytorch-cuda=11.8 -c pytorch -c nvidia -y
pip install "empy==3.3.4"

编译项目

conda activate mappo_noetic
source /opt/ros/noetic/setup.bash
cd ~/catkin_ws

catkin_make \
  -DPYTHON_EXECUTABLE=$CONDA_PREFIX/bin/python \
  -DPYTHON_INCLUDE_DIR=$CONDA_PREFIX/include/python3.8 \
  -DPYTHON_LIBRARY=$CONDA_PREFIX/lib/libpython3.8.so

source devel/setup.bash

开始训练

roslaunch mappo_uav_tracking train_rviz.launch device:=cuda

推理

conda activate mappo_noetic
source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
roslaunch mappo_uav_tracking evaluate_rviz.launch \
  checkpoint:= ~/catkin_ws/src/mappo_uav_tracking/checkpoints/latest.pt \
  episodes:=10 \
  device:=cuda