Issues in using gym-gazebo in Ubuntu 14.04

Posted 2020-10-20 卡斯柏的博客

Overview

OpenAI-gym (Git Repo) provides a great toolkit and a playgroud for research on Deep Reinforcement Learning. Furtherly, gym-gazebo (Git Repo), based on openAI-gym, simplies ROS / Gazebo user on transferring openAI tools into Gazebo.

The following is a record when I implemented this package in my own PC, in particular how I dealt with the installation and complie issues.

Environment

• Ubuntu 14.04
• ROS Indigo
• Gazebo 7
• pip 9.0.1
• tensorflow
• keras

Issues

• Dependencies
  • pip 9.0.1 (make sure it is done before automatic installation)
    • sudo apt-get install python-pip python-dev
    • sudo apt-get upgrade python-pip python-dev
    • sudo pip install --upgrade pip
• Installation bash
  • in the bash file setup_indigo.bash, I have to modify something like below to avoid the errors
    • after "# Create catkin_wsmodify", add "cd ~"
    • ‘vcs import < ../../gazebo.repos‘ to ‘vcs import < ../../gym-gazebo/gym_gazebo/envs/installation/gazebo.repos‘
    • right after it add a line: git clone https://github.com/ethz-asl/mav_comm.git
• Invalid tag: environment variable ‘GYM_GAZEBO_WORLD_CIRCUIT2‘ is not set.
  • simply need to set according env variables
    • cd gym-gazebo/gym-gazebo/env/installation && bash turtlebot_setup.bash
• KeyError: ‘ROS_PORT_SIM‘
  • https://github.com/erlerobot/gym-gazebo/issues/59
    
    • export ROS_PORT_SIM=11311

Reference