trying to fix gpu thing

ut-amrl · May 29, 2024 · 4aaa614 · 4aaa614
1 parent 41892f7
commit 4aaa614
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Showing 2 changed files with 5 additions and 7 deletions.
diff --git a/config/navigation_jackal_icl.lua b/config/navigation_jackal_icl.lua
@@ -4,8 +4,7 @@ end
 
 NavigationParameters = {
   laser_topic = "velodyne_2dscan_highbeams";
-  odom_topic = "/odom";
-  -- odom_topic = "/odometry/filtered";
+  odom_topic = "/odometry/filtered";
   localization_topic = "localization";
   image_topic = "/bev/single/compressed";
   init_topic = "initialpose";
@@ -61,7 +60,7 @@ TerrainEvaluator = {
   -- discount_factor = 0.8; -- ahg demo
   rollout_density = 10;
 
-  model_path = "/home/dev/graph_navigation/terrain_models/model.pt";
+  model_path = "../terrain_models/model.pt";
 
   -- dist_to_goal_weight = -0.2;
   -- dist_to_goal_weight = -0.7;

diff --git a/src/navigation/terrain_evaluator2.h b/src/navigation/terrain_evaluator2.h
@@ -7,7 +7,7 @@ class CustomTerrainEvaluator : public TerrainEvaluator {
  torch::Tensor context_tensor_;
   CustomTerrainEvaluator() : TerrainEvaluator() {
     // todo: store the context as private variable
-    torch::jit::script::Module tensors = torch::jit::load("terrain_models/context.pt");
+    torch::jit::script::Module tensors = torch::jit::load("../terrain_models/context.pt");
     context_tensor_ = tensors.run_method("return_tensor").toTensor();
   }
 
@@ -87,11 +87,10 @@ class CustomTerrainEvaluator : public TerrainEvaluator {
     torch::NoGradGuard no_grad;
 
     // Run the model with the inputs
-    auto output = cost_model_.forward(inputs).toTensor().to(torch::kCPU);
-    // auto output = cost_model_.run_method("forward_w_encoded_patches", inputs).toTensor();
+    auto output = cost_model_.forward(inputs).toTensor();
 
     // apply sigmoid to the output
-    output = torch::sigmoid(output);
+    output = torch::sigmoid(output).to(torch::kCPU);
 
 
     // Print the shape of the output