基于DQN的gym_gazebo运行代码演示
基于DQN的gym_gazebo运行代码演示
下载算法包
git clone https://github.com/ipa-bfb-sc/CSN-RL
cd ./CSN-RL运行脚本
cd ~/文档/GitHub_Projects/CSN-RLqqq/DQN
python3 ./DQN_CirTurtleBot.py终端效果
porter@porter-Aspire:~/文档/GitHub_Projects/CSN-RLqqq/DQN$ python3 ./DQN_C
DQN_CartPole.py DQN_CirTurtleBot.py
porter@porter-Aspire:~/文档/GitHub_Projects/CSN-RLqqq/DQN$ python3 ./DQN_CirTurtleBot.py
Using TensorFlow backend.
ROS_MASTER_URI=http://localhost:12935
GAZEBO_MASTER_URI=http://localhost:12936
Gazebo launched!
Unable to register with master node [http://localhost:12935]: master may not be running yet. Will keep trying.
... logging to /home/porter/.ros/log/9b695694-7000-11e9-a24a-f0761cd1b3e0/roslaunch-porter-Aspire-32299.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://porter-Aspire:36739/
SUMMARY
========export 端口环境添加
此时不会出gazebo，要查看实时的效果，运行如下命令
porter@porter-Aspire:~$ export ROS_MASTER_URI=http://localhost:12935
porter@porter-Aspire:~$ export GAZEBO_MASTER_URI=http://localhost:12936
porter@porter-Aspire:~$ gzclient如果不成功，执行
porter@porter-Aspire:~$ cd /home/porter/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/devel
porter@porter-Aspire:~/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/devel$ source setup.bash
porter@porter-Aspire:~$ export ROS_MASTER_URI=http://localhost:12935
porter@porter-Aspire:~$ export GAZEBO_MASTER_URI=http://localhost:12936
porter@porter-Aspire:~$ gzclient运行ＧＵＩ效果
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