{"action":"created","comment":{"url":"https://api.github.com/repos/aws-robotics/aws-robomaker-sample-application-deepracer/pulls/comments/323449566","pull_request_review_id":286333370,"id":323449566,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDMyMzQ0OTU2Ng==","diff_hunk":"@@ -74,17 +75,23 @@ def __init__(self):\n \n         if node_type == SIMULATION_WORKER:\n             # ROS initialization\n-            self.ack_publisher = rospy.Publisher('/vesc/low_level/ackermann_cmd_mux/output',\n-                                                 AckermannDriveStamped, queue_size=100)\n-            self.racecar_service = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)\n-            rospy.init_node('rl_coach', anonymous=True)\n+            rclpy.init()\n+            self.node = rclpy.create_node('rl_coach')\n+            '''\n+            Wheel controller used in ROS1 was not available in ROS2.\n+            So used ackermann plugin here. It rquires velocity message of type Twist.\n+            '''\n+            # self.ack_publisher = self.node.create_publisher(AckermannDriveStamped, '/vesc/low_level/ackermann_cmd_mux/output', 10)\n+            self.ack_publisher = self.node.create_publisher(Twist, '/racer_car/cmd_vel', 10)\n+            self.racecar_service = self.node.create_client(SetEntityState, '/set_entity_state')\n \n             # Subscribe to ROS topics and register callbacks\n-            rospy.Subscriber('/progress', Progress, self.callback_progress)\n-            rospy.Subscriber('/camera/zed/rgb/image_rect_color', sensor_image, self.callback_image)\n-            self.world_name = rospy.get_param('WORLD_NAME')\n+            self.node.create_subscription(Progress, '/progress', self.callback_progress, 10)\n+            # self.node.create_subscription(sensor_image, '/camera/zed/rgb/image_rect_color', self.callback_image, 10)\n+            self.node.create_subscription(sensor_image, '/zed_camera_left_sensor/image_raw', self.callback_image, 10)\n+            self.world_name = os.environ.get(\"WORLD_NAME\",'easy_track')\n             self.set_waypoints()\n-            self.aws_region = rospy.get_param('ROS_AWS_REGION')\n+            self.aws_region = os.environ.get(\"ROS_AWS_REGION\", \"us-east-1\")","path":"simulation_ws/src/sagemaker_rl_agent/markov/environments/deepracer_env.py","position":53,"original_position":53,"commit_id":"6623de06d63fb89b2ef07e1997ce3076fe65304a","original_commit_id":"6623de06d63fb89b2ef07e1997ce3076fe65304a","user":{"login":"ryanewel","id":43657459,"node_id":"MDQ6VXNlcjQzNjU3NDU5","avatar_url":"https://avatars2.githubusercontent.com/u/43657459?v=4","gravatar_id":"","url":"https://api.github.com/users/ryanewel","html_url":"https://github.com/ryanewel","followers_url":"https://api.github.com/users/ryanewel/followers","following_url":"https://api.github.com/users/ryanewel/following{/other_user}","gists_url":"https://api.github.com/users/ryanewel/gists{/gist_id}","starred_url":"https://api.github.com/users/ryanewel/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ryanewel/subscriptions","organizations_url":"https://api.github.com/users/ryanewel/orgs","repos_url":"https://api.github.com/users/ryanewel/repos","events_url":"https://api.github.com/users/ryanewel/events{/privacy}","received_events_url":"https://api.github.com/users/ryanewel/received_events","type":"User","site_admin":false},"body":"Why change the functionality of the node here? This can be set as a parameter form the env variable in the launch file","created_at":"2019-09-11T20:42:47Z","updated_at":"2019-09-11T20:48:24Z","html_url":"https://github.com/aws-robotics/aws-robomaker-sample-application-deepracer/pull/36#discussion_r323449566","pull_request_url":"https://api.github.com/repos/aws-robotics/aws-robomaker-sample-application-deepracer/pulls/36","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/aws-robotics/aws-robomaker-sample-application-deepracer/pulls/comments/323449566"},"html":{"href":"https://github.com/aws-robotics/aws-robomaker-sample-application-deepracer/pull/36#discussion_r323449566"},"pull_request":{"href":"https://api.github.com/repos/aws-robotics/aws-robomaker-sample-application-deepracer/pulls/36"}}},"pull_request":{"url":"https://api.github.com/repos/aws-robotics/aws-robomaker-sample-application-deepracer/pulls/36","id":314045129,"node_id":"MDExOlB1bGxSZXF1ZXN0MzE0MDQ1MTI5","html_url":"https://github.com/aws-robotics/aws-robomaker-sample-application-deepracer/pull/36","diff_url":"https://github.com/aws-robotics/aws-robomaker-sample-application-deepracer/pull/36.diff","patch_url":"https://github.com/aws-robotics/aws-robomaker-sample-application-deepracer/pull/36.patch","issue_url":"https://api.github.com/repos/aws-robotics/aws-robomaker-sample-application-deepracer/issues/36","number":36,"state":"open","locked":false,"title":"Migrated deepracer_interpreter and deepracer_msgs package from ROS1 t…","user":{"login":"vandanamandlik","id":43747373,"node_id":"MDQ6VXNlcjQzNzQ3Mzcz","avatar_url":"https://avatars3.githubusercontent.com/u/43747373?v=4","gravatar_id":"","url":"https://api.github.com/users/vandanamandlik","html_url":"https://github.com/vandanamandlik","followers_url":"https://api.github.com/users/vandanamandlik/followers","following_url":"https://api.github.com/users/vandanamandlik/following{/other_user}","gists_url":"https://api.github.com/users/vandanamandlik/gists{/gist_id}","starred_url":"https://api.github.com/users/vandanamandlik/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/vandanamandlik/subscriptions","organizations_url":"https://api.github.com/users/vandanamandlik/orgs","repos_url":"https://api.github.com/users/vandanamandlik/repos","events_url":"https://api.github.com/users/vandanamandlik/events{/privacy}","received_events_url":"https://api.github.com/users/vandanamandlik/received_events","type":"User","site_admin":false},"body":"\r\n*Issue #, if available:*\r\n\r\n*Description of changes:*\r\nMigrated deepracer_interpreter and deepracer_msgs package from ROS1 to ROS2\r\nremoved COLCON_IGNORE file fron both packages.\r\nso both packages can build with colcon build.\r\n\r\n\r\nBy submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 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