ubuntu16 安装gym-gazebo

目录

本节会安装以下内容

• Kinetic

• ubuntu16

• gazebo8

• gym

• python3.5

• opencv3

• 安装 gazebo_ros_pkgs

• gym-gazebo

• gym-gazebo 测试

本节笔记主要记录ubuntu16 下安装gym-gazebo，包括其依赖的软件包安装。

我的代码仓库: https://github.com/porterpan/gym-gazebo

建议直接clone 我的软件仓库安装(直接适应kinetic版本安装不会出现警告和编译出错终止，当然可能会应为你的ros功能包缺失出错,这时只需要手动安装缺失的ros功能包，删除catkin_ws，再重复上次的安装过程即可)

cd ~
git clone -b master https://github.com/porterpan/gym-gazebo

实在官方的仓库中修改了: ~/gym-gazebo/gym_gazebo/envs/installation/gazebo.repos 文件内容.使整个安装适应ROS kinetic 环境。当然过程中如果缺ros功能包，需要自己额外安装功能包的。

缺失ros功能包会在编译时出现make error 红色的， 解决办法见ROS 中功能包的安装与查询 部分的方法安装好，然后remove -rf 安装路径中的catkin_ws 文件夹，然后重新上一步操作安装即可。

• 目录

• 第一部分安装gym-gazebo

  • 下载安装文件

  • 安装依赖环境

    • Basic requirements:

    • Install Sophus

  • 安装gym-gazebo

    • Dependencies and libraries

    • install Theano

    • install Keras

  • Try it out (turtlebot simple env)

    • Agent dependencies:

  • Run the environment with a sample agent:

• 第二部分：附录

  • ROS 中功能包的安装与查询

    • 1.查询当前安装完成的所有包文件

    • 2.查询ros的所有功能包

  • 安装错误解决

    • 错误1：

    • 问题2

    • 问题3：

• gazebo.repos　内容修改

• 安装结束效果

  • 问题4：

  • 问题5：

• gym-gazebo 测试

• Edit By Porter, 积水成渊,蛟龙生焉。

第一部分安装gym-gazebo

下载安装文件

cd ~ #进入home目录
git clone -b master https://github.com/porterpan/gym-gazebo

安装依赖环境

Basic requirements:

• ROS Kinetic (/rosversion: 1.12.7) (安装选择这个sudo apt-get install ros-kinetic-desktop, 不要全装不然后面装gazebo8会相对麻烦点)

进入ROS官网的安装界面：http://wiki.ros.org/ROS/Installation

选择需要的版本 Kinetic 和系统平台，我们用的是 ubuntu 16.04 按照指导进行安装，这里注意要选择安装 ros-kinetic-desktop 版本，不要选 ros-kinetic-desktop-full，前者不包含 Gazebo ，后者包含了 Gazebo 7。后边安装 Gazebo 8 的时候还需要卸载掉，比较麻烦。 按照完 ROS 测试一下，在命令行中输入如下命令，看能否正常启动 ros master ：

作者：isl_qdu 链接：https://www.jianshu.com/p/2b4c68b9caaf 来源：简书 简书著作权归作者所有，任何形式的转载都请联系作者获得授权并注明出处。

• Gazebo 8.1.1 , 进入选择手动安装，不要选择Default installation: one-liner安装方式，否则会给你安装默认最新版本的gazebo.

• Python 3.5.2 (# I have yet to find out why though, because all the standard ROS stuff is in Python 2)

• OpenCV3, installed from sources for Python 3， pip3 或者手动安装(git clone https://github.com/Itseez/opencv.git)

• 安装 gazebo_ros_pkgs

前边安装的 ROS 与 Gazebo 是完全独立的两部分，要使他们之间互相通讯，还需要安装 gazebo_ros_pkgs 包。

进入官网安装界面：http://gazebosim.org/tutorials?tut=ros_installing

按照指导安装即可。我一般选择用 A: Install Pre-Built Debians 方式安装。需要注意的是，如果用如下命令安装报错：

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

则需要指明 Gazebo 版本，将命令改为：

sudo apt-get install ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-control

就可以解决问题。

测试。安装结束，用如下命令测试：

roscore  # 启动 ros master
rosrun gazebo_ros gazebo  # 用 rosrun 方式启动 Gazebo

作者：isl_qdu 链接：https://www.jianshu.com/p/2b4c68b9caaf 来源：简书 简书著作权归作者所有，任何形式的转载都请联系作者获得授权并注明出处。

• OpenAI gym安装

Install Sophus

cd ~
git clone https://github.com/stonier/sophus -b release/0.9.1-kinetic
cd sophus
mkdir build
cd build
cmake ..
make
sudo make install
echo "## Sophus installed ##\n"

安装gym-gazebo

cd ~
Gazebo gym
git clone -b master https://github.com/erlerobot/gym-gazebo
cd gym-gazebo
sudo pip2 install -e .

Dependencies and libraries

sudo pip3 install h5py
sudo apt-get install python3-skimage

install Theano

cd ~/
git clone git://github.com/Theano/Theano.git
cd Theano/
sudo python3 setup.py develop

install Keras

sudo pip3 install keras

Try it out (turtlebot simple env)

• Issues:

spacenav_node not compiling. CATKIN_IGNOREd. wiimote not compiling. CATKIN_IGNOREd. kobuki_qtestsuite not compiling. CATKIN_IGNOREd.

Agent dependencies:

# make sure to switch to bash, because the installation script 
# hasn't been converted to ZSH yet
# and if you run it from ZSH the environmental variables 
# that are set during the script's execution aren't preserved
cd gym_gazebo/envs/installation
./setup_kinetic.bash    
./turtlebot_setup.bash

Run the environment with a sample agent:

# only execute this while still in the same bash as last step
cd ../../../examples/scripts_turtlebot/
python circuit2_turtlebot_lidar_qlearn.py

The result should look like this (after a few seconds):

... (messages about ROS and Gazebo starting up, until finally:) ...
[ INFO] [1508869124.880487247, 81.480000000]: GazeboRosKobuki plugin ready to go! [mobile_base]
EP: 1 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.9] - Reward: -87     Time: 0:00:05
EP: 2 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.9] - Reward: -155     Time: 0:00:05
EP: 3 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.9] - Reward: -165     Time: 0:00:05
EP: 4 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.89] - Reward: -156     Time: 0:00:06
EP: 5 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.89] - Reward: -162     Time: 0:00:06
EP: 6 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.89] - Reward: -161     Time: 0:00:07
EP: 7 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.89] - Reward: -167     Time: 0:00:07
EP: 8 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.89] - Reward: -166     Time: 0:00:08
EP: 9 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.89] - Reward: -154     Time: 0:00:08
EP: 10 - [alpha: 0.2 - gamma: 0.8 - epsilon: 0.89] - Reward: -157     Time: 0:00:09

第二部分：附录

ROS 中功能包的安装与查询

1.查询当前安装完成的所有包文件

 rospack  list

• 可以看到所有的ROS功能包都在/opt/ros/kinetic/share目录下，所以也可以使用如下命令查询

  cd /opt/ros/kinetic/share/
  or
  roscd turtlesim/
  cd ..

  2.查询ros的所有功能包

  apt-cache search ros-kinetic

• 或者说在不知道要安装功能包的确切名字的情况下找到目标包

  apt-cache search ros-kinetic | grep rqt-

  通过管道线 与grep命令， 输出与关键字rqt-相关的行

• 再或者下述安装命令与Tab键结合

  sudo apt-get install ros-kinetic-rqt-

  系统输出相应提示。 前述所有内容中，rospack list 与sudo apt-get install ros-kinetic-rqt- +Tab键使用最方便。

安装错误解决

错误1：

• 错误1：错误提示：

  在moveit编译时找不到manipulation_msgsConfig.cmake manipulation_msgs-config.cmake文件

  ```bash Could not find the required component 'manipulation_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "manipulation_msgs" with any of the following names:

  manipulation_msgsConfig.cmake manipulation_msgs-config.cmake

作者：pd很不专业 来源：CSDN 原文：https://blog.csdn.net/qq_42145185/article/details/80975975 版权声明：本文为博主原创文章，转载请附上博文链接！

![manipulation_msgsconfig.cmake](./image4/manipulation_msgsconfig.cmake)

- 错误1：解决：

搜索这个功能包

![manipulation_msgsconfig.search](./image4/manipulation_msgsconfig.search.png)

能找到这个ros-kinetic-manipulation-msgs 包
```bash
sudo apt-get install ros-kinetic-manipulation-msgs

对ros安装对应的manipulation_msgsConfig包, 完成安装后重新去编译一下你的moveit包就行了。

manipulation_msgsconfig.installed

问题2

• 错误二：错误提示：

" CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "tf2_geometry_msgs" with any of the following names:

tf2_geometry_msgsConfig.cmake
tf2_geometry_msgs-config.cmake

Add the installation prefix of "tf2_geometry_msgs" to CMAKE_PREFIX_PATH or set "tf2_geometry_msgs_DIR" to a directory containing one of the above files. If "tf2_geometry_msgs" provides a separate development package or SDK, be sure it has been installed."

• 错误二：解决：

先搜索这个需要安装的ros功能包

apt-cache search ros-kinetic | grep tf2_geometry_msgs

发现存在这个包

porter@porter-Aspire:~/gym-gazebo/gym_gazebo/envs/installation$ apt-cache search ros-kinetic | grep tf2_geometry_msgs
ros-kinetic-tf2-geometry-msgs - tf2_geometry_msgs

执行这个功能包的安装

porter@porter-Aspire:~/gym-gazebo/gym_gazebo/envs/installation$ sudo apt-get install ros-kinetic-tf2-geometry-msgs
[sudo] porter 的密码： 
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
下列【新】软件包将被安装：
  ros-kinetic-tf2-geometry-msgs
升级了 0 个软件包，新安装了 1 个软件包，要卸载 0 个软件包，有 0 个软件包未被升级。
需要下载 0 B/13.2 kB 的归档。
解压缩后会消耗 86.0 kB 的额外空间。
正在选中未选择的软件包 ros-kinetic-tf2-geometry-msgs。
(正在读取数据库 ... 系统当前共安装有 415109 个文件和目录。)
正准备解包 .../ros-kinetic-tf2-geometry-msgs_0.5.20-0xenial-20190320-171251-0800_amd64.deb  ...
正在解包 ros-kinetic-tf2-geometry-msgs (0.5.20-0xenial-20190320-171251-0800) ...
正在设置 ros-kinetic-tf2-geometry-msgs (0.5.20-0xenial-20190320-171251-0800) ...
porter@porter-Aspire:~/gym-gazebo/gym_gazebo/envs/installation$

tf2_geometry_msg_resolved.png

问题3：

• 问题3：错误提示

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message):

WARNING: Metapackage "ecl_tools" must buildtool_depend on catkin.
WARNING: Metapackage "ecl_tools" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Metapackage "ecl_lite" must buildtool_depend on catkin.
WARNING: Metapackage "ecl_lite" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
Packages "mav_msgs" not found in the workspace

• 问题3：解决

出现这个错误的原因是ecl升级，或这和你当前安装的ros版本不对应。造成了cmake版本比配。出错，方法是

打开gazebo.repos,修改如下部分：

ecl_lite: 
type: git 
url: https://github.com/stonier/ecl_lite 
version: release/0.61-indigo-kinetic 
ecl_navigation: 
type: git 
url: https://github.com/stonier/ecl_navigation 
version: devel 
ecl_tools: 
type: git 
url: https://github.com/stonier/ecl_tools 
version: release/0.61-indigo-kinetic

(将ecl_core、 ecl_lite 和ecl_tools 的版本号（version）改成： release/0.61-indigo-kinetic）

不过最终解决还是建议你如果也是安装ros kenitic 直接复制我后面附录的gazebo.repos内容替换掉之前的

路径：

vim ~/gym-gazebo/gym_gazebo/envs/installation/gazebo.repos

gazebo.repos　内容修改

gazebo.repos 修改后的文件内容，使适应kinetic环境，进行安装。

repositories:
  ar_track_alvar:
    type: git
    url: https://github.com/ros-perception/ar_track_alvar
    version: kinetic-devel
  mav_comm:
    type: git
    url: https://github.com/ethz-asl/mav_comm.git
    version: master
  catkin_simple:
    type: git
    url: https://github.com/catkin/catkin_simple.git
    version: master
  control_toolbox:
    type: git
    url: https://github.com/ros-controls/control_toolbox.git
    version: kinetic-devel
  ecl_core:
    type: git
    url: https://github.com/stonier/ecl_core
    version: release/0.61-indigo-kinetic
  ecl_lite:
    type: git
    url: https://github.com/stonier/ecl_lite
    version: release/0.61-indigo-kinetic
  ecl_navigation:
    type: git
    url: https://github.com/stonier/ecl_navigation
    version: release/0.60-indigo-kinetic
  ecl_tools:
    type: git
    url: https://github.com/stonier/ecl_tools
    version: release/0.61-indigo-kinetic
  driver_base:
    type: git
    url: https://github.com/ros-drivers/driver_common.git
    version: indigo-devel
  gazebo_ros_pkgs:
    type: git
    url: https://github.com/ros-simulation/gazebo_ros_pkgs
    version: kinetic-devel
  hector_gazebo:
    type: git
    url: https://github.com/tu-darmstadt-ros-pkg/hector_gazebo/
    version: kinetic-devel
  image_common:
    type: git
    url: https://github.com/ros-perception/image_common.git
    version: hydro-devel
  joystick_drivers:
    type: git
    url: https://github.com/ros-drivers/joystick_drivers.git
    version: master
  kobuki:
    type: git
    url: https://github.com/yujinrobot/kobuki
    version: kinetic
  kobuki_core:
    type: git
    url: https://github.com/yujinrobot/kobuki_core
    version: kinetic
  kobuki_desktop:
    type: git
    url: https://github.com/yujinrobot/kobuki_desktop
    version: kinetic
  kobuki_msgs:
    type: git
    url: https://github.com/yujinrobot/kobuki_msgs
    version: kinetic
  navigation:
    type: git
    url: https://github.com/ros-planning/navigation
    version: kinetic-devel
  pcl_ros:
    type: git
    url: https://github.com/ros-perception/perception_pcl.git
    version: kinetic-devel
  realtime_tools:
    type: git
    url: https://github.com/ros-controls/realtime_tools
    version: kinetic-devel
  ros_control:
    type: git
    url: https://github.com/ros-controls/ros_control
    version: kinetic-devel
  roslint:
    type: git
    url: https://github.com/ros/roslint
    version: master
  turtlebot:
    type: git
    url: https://github.com/turtlebot/turtlebot
    version: kinetic
  turtlebot_create:
    type: git
    url: https://github.com/turtlebot/turtlebot_create
    version: master
  turtlebot_simulator:
    type: git
    url: https://github.com/turtlebot/turtlebot_simulator
    version: indigo
  xacro:
    type: git
    url: https://github.com/ros/xacro
    version: kinetic-devel
  yocs_msgs:
    type: git
    url: https://github.com/yujinrobot/yocs_msgs
    version: release/0.6-kinetic
  yujin_ocs:
    type: git
    url: https://github.com/yujinrobot/yujin_ocs
    version: kinetic

安装结束效果

vim ~/.bashrc
# 最后几行的环境应该是这样的
source /home/porter/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/devel/setup.bash
export GAZEBO_MODEL_PATH=/home/porter/gym-gazebo/gym_gazebo/envs/installation/../assets/models
export GYM_GAZEBO_WORLD_MAZE=/home/porter/gym-gazebo/gym_gazebo/envs/installation/../assets/worlds/maze.world
export GYM_GAZEBO_WORLD_CIRCUIT=/home/porter/gym-gazebo/gym_gazebo/envs/installation/../assets/worlds/circuit.world
export GYM_GAZEBO_WORLD_CIRCUIT2=/home/porter/gym-gazebo/gym_gazebo/envs/installation/../assets/worlds/circuit2.world
export GYM_GAZEBO_WORLD_CIRCUIT2C=/home/porter/gym-gazebo/gym_gazebo/envs/installation/../assets/worlds/circuit2c.world
export GYM_GAZEBO_WORLD_ROUND=/home/porter/gym-gazebo/gym_gazebo/envs/installation/../assets/worlds/round.world

打开终端执行的效果如下图

gym_gazebo_success

问题4：

• 问题4：错误提示

Pycharm 里面无法正常运行Gym_gazebo代码.

ubuntu下PyCharm导入ros库

porter@porter-Aspire:~$ gedit /usr/share/applications/Pycharm.desktop

[Desktop Entry]
Type=Application
Name=Pycharm
GenericName=Pycharm3
Comment=Pycharm3:The Python IDE
Exec=sh /home/porter/pycharm-2018.3.5/bin/pycharm.sh
Icon=/home/porter/pycharm-2018.3.5/bin/pycharm.png
Terminal=pycharm
Categories=Pycharm;

• 问题4：错误提示

[Desktop Entry]
Version=1.0
Type=Application
Name=Pycharm
GenericName=Pycharm3
Icon=/home/porter/pycharm-2018.3.5/bin/pycharm.png
Exec=bash -i -c "/home/porter/pycharm-2018.3.5/bin/pycharm.sh" %f
Comment=Pycharm3:The Python IDE
Categories=Development;IDE;
Terminal=false

问题5：

在终端中正常运行，在pycharm中运行出错

• 问题5：错误提示

entry = _cache.get(encoding, _unknown) 
AttributeError: ‘NoneType’ object has no attribute ‘get’

运行pycharm报错，内容如下：

no attribute ‘get’

• 问题5：解决方式：

settings -> tools ->Python Scientific ->Show plots in toolwindow(取消勾选)

plots in toolwindow

gym-gazebo 测试

参见我的另一篇文章gym-gazebo安装后的测试