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new file mode 100644
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diff --git a/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs10_vel02.json b/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs10_vel02.json
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diff --git a/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs10_vel03.json b/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs10_vel03.json
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diff --git a/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs20_vel01.json b/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs20_vel01.json
new file mode 100644
index 000000000..a80870a57
--- /dev/null
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@@ -0,0 +1,147 @@
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diff --git a/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs20_vel02.json b/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs20_vel02.json
new file mode 100644
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diff --git a/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs20_vel03.json b/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs20_vel03.json
new file mode 100644
index 000000000..1c36aa8fb
--- /dev/null
+++ b/arena_navigation/arena_local_planner/evaluation/scripts/quantitative/run_1_2/teb_map1_obs20_vel03.json
@@ -0,0 +1,77 @@
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diff --git a/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/agents/MLP_ARENA2D_2021_04_12__16_08/hyperparameters.json b/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/agents/MLP_ARENA2D_2021_04_12__16_08/hyperparameters.json
new file mode 100644
index 000000000..f0c79ff63
--- /dev/null
+++ b/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/agents/MLP_ARENA2D_2021_04_12__16_08/hyperparameters.json
@@ -0,0 +1,20 @@
+{
+ "agent_name": "MLP_ARENA2D_2021_04_12__16_08",
+ "robot": "myrobot",
+ "gamma": 0.99,
+ "n_steps": 128,
+ "ent_coef": 0.01,
+ "learning_rate": 0.00025,
+ "vf_coef": 0.5,
+ "max_grad_norm": 0.5,
+ "gae_lambda": 0.95,
+ "batch_size": 64,
+ "n_epochs": 4,
+ "clip_range": 0.2,
+ "reward_fnc": "rule_01",
+ "discrete_action_space": false,
+ "normalize": true,
+ "task_mode": "staged",
+ "curr_stage": 1,
+ "n_timesteps": 0
+}
\ No newline at end of file
diff --git a/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/agents/drl_local_planner_03_25/best_model.zip b/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/agents/drl_local_planner_03_25/best_model.zip
index 43cc83c0b..77a008da2 100644
Binary files a/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/agents/drl_local_planner_03_25/best_model.zip and b/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/agents/drl_local_planner_03_25/best_model.zip differ
diff --git a/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/noise_parameter b/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/noise_parameter
new file mode 100644
index 000000000..0cfbf0888
--- /dev/null
+++ b/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/noise_parameter
@@ -0,0 +1 @@
+2
diff --git a/docs/Readme_for_noise_and_delay_modules.md b/docs/Readme_for_noise_and_delay_modules.md
new file mode 100644
index 000000000..746f38ef4
--- /dev/null
+++ b/docs/Readme_for_noise_and_delay_modules.md
@@ -0,0 +1,55 @@
+## 1.Goals
+Adding noise and latency to laser scan sensors
+
+
+## 2.Principle
+We renamed the original "scan" topic to "scan_original" topic and added a new node "scan_process "
+to receive the information from "scan_original", and process the sensor information in the new node
+to increase the noise and delay. Finally,the processed sensor information is broadcast with the "scan" topic.
+So no additional files need to be changed to accommodate the noise and delay modules.
+
+
+
+##3. Mode and start-up commands for noise and delay modules
+
+###3.1 Mode for noise and delay modules
+
+#### Mode for noise module
+- The first noise mode is the gaussian noise.It is a noise that fits a Gaussian normal distribution.
+- The second noise mode is the offset noise.It simulate by Random Walk errors.
+- The third noise mode is the angle noise. It simulate angular errors, which are made up of mechanical horizontal and vertical errors.
+- The fourth noise mode is bias noise.It simulate Physical offsets.
+
+#### Mode for delay module
+- Adding fixed time delays to sensor information.
+
+###3.2 Parameters for noise module
+
+```bash
+ "max_value_of_data": Maximum value of sensor information
+ "gauss_mean": Mean value of Gaussian noise
+ "gauss_sigma": Standard deviation range of Gaussian noise
+ "gauss_size": Size of gauss error
+ "bias_noise": Size of bias error
+ "offset_noise": Mean value of random error
+ "angle_noise": Angular error in radians.(mrad)
+```
+The parameters can be modified in the noise_parameter.json file
+
+###3.3 Start-up commands for noise and delay modules
+- In one terminal, start simulation. You can specify the following parameters:
+
+ * noise_mode:=<0,1,2,3,4>(default 0,means without noise) #Different noises can be selected individually or together.eg.noise_mode:=123 It means that noise mode123 is added at the same time.
+ * delay:= (default 0) # Delay time
+
+```bash
+roslaunch arena_bringup start_arena_flatland.launch train_mode:=false use_viz:=true local_planner:=mpc map_file:=map1 obs_vel:=0.3 noise_mode := 1 delay:= 10
+```
+
+## 4.Location of function and how to merge.
+- The functions are implemented in the realistic_modeling/scan_process folder.
+- Changed parameters and started newly added sublaunch in start_arena_flatland.launch.
+- Started new nodes and topics in scan_process.launch.
+- Rename the original topic name in flatland_simulator.launch.
+
+The noise and delay modules can be added to any version of the program by simply making changes to the above sections.
diff --git a/realistic_modeling/scan_process/CMakeLists.txt b/realistic_modeling/scan_process/CMakeLists.txt
new file mode 100644
index 000000000..df981c7df
--- /dev/null
+++ b/realistic_modeling/scan_process/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(scan_process)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES laser_noise
+# CATKIN_DEPENDS roscpp rospy std_msg
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/laser_noise.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/laser_noise_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+ catkin_install_python(PROGRAMS
+ scripts/scan_process.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_noise.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/realistic_modeling/scan_process/Results_photo/CNN_NAVREP_2021_01_15__23_28_with_noise1.png b/realistic_modeling/scan_process/Results_photo/CNN_NAVREP_2021_01_15__23_28_with_noise1.png
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diff --git a/realistic_modeling/scan_process/Results_photo/MLP_ARENA2D_2021_02_18__13_13_with_noise1.png b/realistic_modeling/scan_process/Results_photo/MLP_ARENA2D_2021_02_18__13_13_with_noise1.png
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diff --git a/realistic_modeling/scan_process/Results_photo/The values of noise and delay when the success rate is around 90%.png b/realistic_modeling/scan_process/Results_photo/The values of noise and delay when the success rate is around 90%.png
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diff --git a/realistic_modeling/scan_process/config/noise_parameter.json b/realistic_modeling/scan_process/config/noise_parameter.json
new file mode 100644
index 000000000..615036c78
--- /dev/null
+++ b/realistic_modeling/scan_process/config/noise_parameter.json
@@ -0,0 +1,9 @@
+{
+ "max_value_of_data": "0",
+ "gauss_mean": "0",
+ "gauss_sigma": "1",
+ "gauss_size": "0.015",
+ "bias_noise": "0.1",
+ "offset_noise": "0.01",
+ "angle_noise": "0.122"
+}
\ No newline at end of file
diff --git a/realistic_modeling/scan_process/package.xml b/realistic_modeling/scan_process/package.xml
new file mode 100644
index 000000000..5fb99a0c6
--- /dev/null
+++ b/realistic_modeling/scan_process/package.xml
@@ -0,0 +1,68 @@
+
+
+ scan_process
+ 0.0.0
+ The scan_process package
+
+
+
+
+ chang
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+ roscpp
+ rospy
+ std_msgs
+
+
+
+
+
+
+
+
diff --git a/realistic_modeling/scan_process/scripts/__init__.py b/realistic_modeling/scan_process/scripts/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/realistic_modeling/scan_process/scripts/noise.py b/realistic_modeling/scan_process/scripts/noise.py
new file mode 100644
index 000000000..5821ac011
--- /dev/null
+++ b/realistic_modeling/scan_process/scripts/noise.py
@@ -0,0 +1,174 @@
+'''
+ @name: noise.py
+ @brief: This class adds noise to the received sensor signal
+ @author: Chang Liu
+ @version: 3.7
+ @date: 2020/12/14
+'''
+# python relevant
+import numpy as np
+import csv
+import random
+
+class Noise:
+ """
+ This class adds noise to the received sensor data.
+ """
+ def __init__(self,
+ noise_mode,
+ max_value_of_data = 0,
+ gauss_mean = 0,
+ gauss_sigma = 1,
+ gauss_size = 0.015,
+ bias_noise = 0.1,
+ offset_noise = 0.01,
+ angle_noise = 0.122):
+ # Class variables
+ self._noise_mode = noise_mode # Mode of noise
+ self._max_value_of_data = max_value_of_data # usually dont need to change,it will update itself. max value of the sensor data,prepare for standaraization.
+ self._gauss_mean = gauss_mean
+ self._gauss_sigma = gauss_sigma
+ self._gauss_size = gauss_size
+ self._bias_noise = bias_noise
+ self._offset_noise = offset_noise
+ self._angle_noise = angle_noise
+
+ self._noise_count = -1
+
+ def add_noise(self,scan_msg):
+ #caculate the size sf msg,and create file to save data
+ if self._noise_count == -1:
+ self.__initialsing_noise(scan_msg)
+ scan_msg_data = np.array(scan_msg.ranges)
+ scan_noise_msg = 0
+ if 1 in self._noise_mode:
+ scan_noise_msg += self.__gaussian_noise(scan_msg_data)
+ scan_noise_msg -= scan_msg_data
+
+# print("Gaussian noise has been added")
+ if 2 in self._noise_mode:
+ scan_noise_msg += self.__offset_noise(scan_msg_data)
+ scan_noise_msg -= scan_msg_data
+# print("offset noise has been added")
+ if 3 in self._noise_mode:
+ scan_noise_msg += self.__angle_noise(scan_msg_data)
+ scan_noise_msg -= scan_msg_data
+# print("angle noise has been added")
+ if 4 in self._noise_mode:
+ scan_noise_msg += self.__bias_noise(scan_msg_data)
+ scan_noise_msg -= scan_msg_data
+# print("bias noise has been added")
+
+ scan_noise_msg += scan_msg_data
+ self.__save_data_for_plot(scan_msg.ranges,scan_noise_msg)
+ return scan_noise_msg
+
+ def __gaussian_noise(self,scan_msg):
+ '''
+ This function is used to simulate ranging noise.It is a noise that fits a Gaussian normal distribution.
+ This function will generate Gaussian white noise
+ input :
+ scan_msg : Original scan data
+ return:
+ gaussian_out : Gaussian noise data
+ '''
+ # Generate Gaussian noise
+ noise = np.random.normal(self._gauss_mean, self._gauss_sigma, scan_msg.shape)
+ noise = noise * self._gauss_size
+ gaussian_out = scan_msg + noise
+ # Set more than 1 to 1, and less than 0 to 0
+ gaussian_out = np.clip(gaussian_out, 0, self._max_value_of_data)
+ return gaussian_out
+
+ def __bias_noise(self,scan_msg):
+ '''
+ This function is used to simulate Physical offsets.
+ This function will generate a fixed value of noise.
+ input :
+ scan_msg : Original scan data
+ return:
+ bias_out : Bias noise data
+ '''
+ # Generate bias noise
+ bias_out = scan_msg + self._bias_noise
+ bias_out = np.clip(bias_out, 0, self._max_value_of_data)
+ return bias_out
+
+ def __offset_noise(self,scan_msg):
+ '''
+ This function is used to model the linear error,it can be simulated by Random Walk errors.
+ This function will generate an average random noise within a set range.
+ input :
+ scan_msg : Original scan data
+ return:
+ offset_out : offset noise data
+ '''
+
+ # Generate offset noise
+ for i in range(len(scan_msg)):
+ step = self._offset_noise if random.randint(0, 1) else -self._offset_noise
+ self._distance[i] += step
+ offset_out = scan_msg + self._distance
+ offset_out= np.clip(offset_out, 0, self._max_value_of_data)
+ return offset_out
+
+ def __angle_noise(self,scan_msg):
+ '''
+ This function is used to model to simulate angular errors, which are made up of mechanical horizontal and vertical errors.
+ This function will generate Gaussian white noise
+ input :
+ scan_msg : Original scan data
+ return:
+ bias_out : angle noise data
+ '''
+ # standardization
+ angle_noise = [0] * len(scan_msg)
+ # Generate angle noise
+ for i in range(len(scan_msg)):
+ noise = np.random.normal(0, 1) *scan_msg[i] * self._angle_noise*0.01
+ angle_noise[i] = scan_msg[i] + noise
+ angle_noise[i] = np.clip(angle_noise[i], 0, self._max_value_of_data)
+ return angle_noise
+
+ def __save_data_for_plot(self,scan_msg,scan_noise_msg):
+ '''
+ This function is used to save the original and noise data,then programmer can use these to analyse
+ input :
+ scan_msg : the original scan data
+ scan_noise_msg : the noise scan data
+ return:
+
+ '''
+ self._list_for_noise[self._noise_count] = scan_noise_msg
+ self._list_for_original[self._noise_count] = scan_msg
+
+ if self._noise_count % 50 == 0:
+ with open(self._Original_data_address,'w',newline='') as Original_data:
+ Original_writer = csv.writer(Original_data)
+ Original_writer.writerows(self._list_for_original)
+ Original_data.close()
+
+ with open(self._Noise_data_address,'w',newline='') as Noise_data:
+ Noise_writer = csv.writer(Noise_data)
+ Noise_writer.writerows(self._list_for_noise)
+ Noise_data.close()
+
+ self._noise_count = (self._noise_count+1) % 300
+
+ def __initialsing_noise(self,scan_msg):
+ self._max_value_of_data = scan_msg.range_max
+ self._noise_count += 1
+ self._Original_data_address = 'Original_data_for_plot.csv'
+ self._Noise_data_address = 'Noise_data_for_plot.csv'
+ self.__initialising_csv_files()
+
+ self._list_for_original = [([0] * len(scan_msg.ranges)) for _ in range(300)]
+ self._list_for_noise = [([0] * len(scan_msg.ranges)) for _ in range(300)]
+
+ self._distance = [0] * len(scan_msg.ranges) #initial the error for the offset_noise
+
+ def __initialising_csv_files(self):
+ with open(self._Original_data_address,'w') as Original_data:
+ Original_data.close()
+ with open(self._Noise_data_address,'w') as Noise_data:
+ Noise_data.close()
diff --git a/realistic_modeling/scan_process/scripts/noise.pyc b/realistic_modeling/scan_process/scripts/noise.pyc
new file mode 100644
index 000000000..712c6090a
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diff --git a/realistic_modeling/scan_process/scripts/scan_process.py b/realistic_modeling/scan_process/scripts/scan_process.py
new file mode 100644
index 000000000..771c41bf8
--- /dev/null
+++ b/realistic_modeling/scan_process/scripts/scan_process.py
@@ -0,0 +1,135 @@
+#!/usr/bin/env python
+'''
+ @name: scan_process.py
+ @brief: This class accepts, processes and sends laser sensor information.
+ @author: Chang Liu Ke Wang Shaungrui Liu Jiajing Jiang
+ @version: 3.7
+ @date: 2021/2/10
+'''
+
+## sensor data processing that listens to sensor_msgs/LaserScan published to the 'scan' topic
+
+import rospy
+import json
+import os
+import collections
+
+# observation msgs
+from sensor_msgs.msg import LaserScan
+
+#helper python
+from noise import Noise
+
+
+class Scan_process():
+
+ def __init__(self, noise_model,timedelay):
+
+ self._noise_model = self._identify_noise_model(noise_model)
+ self._lst = collections.deque() #the storage "cache" for the data with noise
+ self._time_delay = timedelay #the delay in the data transfering
+
+ self.noise_parameter_address =os.path.join( os.path.abspath(os.path.dirname(os.path.abspath(__file__)) + os.path.sep + ".."),'config/noise_parameter.json')
+ if 0 not in self._noise_model:
+ self._setup_by_configuration(self.noise_parameter_address)
+ self.Noise_Generation = Noise(noise_mode = self._noise_model,
+ gauss_mean = self._gauss_mean,
+ gauss_sigma = self._gauss_sigma,
+ gauss_size = self._gauss_size,
+ bias_noise = self._bias_noise,
+ offset_noise = self._offset_noise ,
+ angle_noise = self._angle_noise)
+
+ def _add_noise_and_publish(self,data):
+ '''
+ This function adds noise to the incoming sensor information
+ '''
+ if 0 not in self._noise_model:
+ data.ranges = self.Noise_Generation.add_noise(data)
+
+ self._add_delay_and_publish(data)
+
+ def _add_delay_and_publish(self,data):
+ '''
+ This function adds delay to the incoming sensor information and then publishes
+ '''
+ pub = rospy.Publisher('scan', LaserScan)
+# self._change_timedelay()
+ if self._time_delay != 1:
+ self._lst.append(data)
+ if len(self._lst) == self._time_delay:
+ pub.publish(self._lst.popleft()) # creat publisher ,add time dalay to the publisher,every time the publisher publish the msgs, when there are 10 data in cache creat
+ else:
+ pub.publish(data)
+
+ def _listener(self):
+ '''
+ This function receives the data from the original scan sensor
+ '''
+ rospy.Subscriber('scan_original', LaserScan, self._add_noise_and_publish)
+ rospy.spin() #simply keeps python from exiting until this node is stopped
+
+ def _identify_noise_model(self,noise_model):
+ '''
+ This function defines the type of noise
+ input :
+ noise_model : noise model
+ noise_model contains 0 means without noise
+ noise_model contains 1 means with gaussian noise
+ noise_model contains 2 means with offset noise
+ noise_model contains 3 means with angle noise
+ noise_model contains 4 means with bias noise
+ it can contain several different noises at the same time
+ '''
+ ans = []
+ if isinstance(noise_model,int):
+ if noise_model == 0:
+ ans.append(0)
+ while noise_model != 0:
+ ans.append(noise_model % 10)
+ noise_model = noise_model // 10
+ elif isinstance(noise_model,str): #identify the noise_model is str
+ pass
+
+ return ans
+
+ def _setup_by_configuration(self, noise_parameter_json_path):
+ '''
+ This function Read the noise parameter from the json file
+ '''
+ with open(noise_parameter_json_path, 'r',encoding = 'utf-8_sig') as f:
+ lines = []
+ for row in f.readlines():
+ if row.strip().startswith("//"):
+ continue
+ lines.append(row)
+ d = json.loads("\n".join(lines))
+ self._max_value_of_data = float(d['max_value_of_data'])
+ self._gauss_mean = float(d['gauss_mean'])
+ self._gauss_sigma = float(d['gauss_sigma'])
+ self._gauss_size = float(d['gauss_size'])
+ self._bias_noise = float(d['bias_noise'])
+ self._offset_noise = float(d['offset_noise'])
+ self._angle_noise = float(d['angle_noise'])
+ f.close()
+
+ def _change_timedelay(self):
+ with open("/home/chang/catkin_ws/src/arena-rosnav/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/delay_parameter",'r') as delay_data:
+
+ self._time_delay = int(delay_data.read())
+ print(self._time_delay)
+ delay_data.close()
+
+
+if __name__ == '__main__':
+
+ rospy.init_node('noise', anonymous = False)
+ noise_model = rospy.get_param('noise_mode')
+ timedelay = rospy.get_param('delay')
+ Scan_process = Scan_process(noise_model = noise_model,timedelay = timedelay)
+# Scan_process = Scan_process()
+
+ while not rospy.is_shutdown():
+ Scan_process._listener()
+
+