Configuring the environment file

In step 2 of the preceding algorithmic description of the start_training.py script, ROS parameters are loaded into the model. Their definitions come from this line of the start_training.launch file:

<rosparam command="load" file="$(find cartpole_dqn)/config/cartpole_dqn_params.yaml" />

When executing this part, the parameters in the cartpole_dqn_params.yaml file are loaded into memory and are available to the cartpole_dqn.py script. The more relevant are the following:

alpha = rospy.get_param('/cartpole_v0/alpha')
gamma = rospy.get_param('/cartpole_v0/gamma')
epsilon = rospy.get_param('/cartpole_v0/epsilon')

cartpole_v0 is the namespace that is declared before the definitions in the yaml file. The meaning of every parameter was covered in the Self...