# 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: 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) ```bash 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](#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](#目录) * [ ] [第一部分安装gym-gazebo](#第一部分安装gym-gazebo) * [下载安装文件](#下载安装文件) * [安装依赖环境](#安装依赖环境) * [Basic requirements:](#basic-requirements) * [Install Sophus](#install-sophushttpsgithubcomstoniersophustreerelease091-kinetic) * [安装gym-gazebo](#安装gym-gazebo) * [Dependencies and libraries](#dependencies-and-libraries) * [install Theano](#install-theano) * [install Keras](#install-keras) * [Try it out (turtlebot simple env)](#try-it-out-turtlebot-simple-env) * [Agent dependencies:](#agent-dependencies) * [Run the environment with a sample agent:](#run-the-environment-with-a-sample-agent) * [ ] [第二部分：附录](#第二部分附录) * [ROS 中功能包的安装与查询](#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](#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](#2查询ros的所有功能包) * [安装错误解决](#安装错误解决) * [错误1：](#错误1) * [问题2](#问题2) * [问题3：](#问题3) * [ ] [gazebo.repos　内容修改](#gazeborepos　内容修改) * [ ] [安装结束效果](#安装结束效果) * [问题4：](#问题4) * [问题5：](#问题5) * [ ] [gym-gazebo 测试](#gym-gazebo-测试) * [x] 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 ```bash 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](http://wiki.ros.org/kinetic/Installation/Ubuntu#Installation-1) (/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： > > 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： 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](http://gazebosim.org/tutorials?cat=install\&tut=install_ubuntu\&ver=8.0) , 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](https://pypi.org/project/opencv-python/3.4.3.18/#history) 或者手动安装(git clone ) * 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： > > 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： > > ```bash > 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： > > ```bash > 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： ```bash roscore # 启动 ros master rosrun gazebo_ros gazebo # 用 rosrun 方式启动 Gazebo ``` > 作者：isl\_qdu 链接： 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](http://gym.openai.com/docs/) #### [Install Sophus](https://github.com/stonier/sophus/tree/release/0.9.1-kinetic) ```bash 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 ```bash cd ~ Gazebo gym git clone -b master https://github.com/erlerobot/gym-gazebo cd gym-gazebo sudo pip2 install -e . ``` #### Dependencies and libraries ```bash sudo pip3 install h5py sudo apt-get install python3-skimage ``` #### install Theano ```bash cd ~/ git clone git://github.com/Theano/Theano.git cd Theano/ sudo python3 setup.py develop ``` #### install Keras ```bash 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: ```bash # 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: ```bash # 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 ```bash 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 ```bash cd /opt/ros/kinetic/share/ or roscd turtlesim/ cd .. ``` **2.查询ros的所有功能包** ```bash 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 ```bash 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 ```bash 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： 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](https://1930597982-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LV7JLvsYnG7y7A2o-vp%2F-LeATVs4HNbpGM_9-ZPI%2F-LeAUVKWKyW-MFPpFnuM%2Fmanipulation_msgsconfig.installed.png?generation=1557118455448234\&alt=media) #### 问题2 * 错误二：错误提示： ```bash " 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 ```bash apt-cache search ros-kinetic | grep tf2_geometry_msgs ``` 发现存在这个包 ```bash 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 ```bash 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](https://1930597982-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LV7JLvsYnG7y7A2o-vp%2F-LeATVs4HNbpGM_9-ZPI%2F-LeAUVK_LbUYPqDEsi38%2Ftf2_geometry_msg_resolved.png?generation=1557118455601921\&alt=media) #### 问题3： * 问题3：错误提示 CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin\_workspace.cmake:95 (message): ```bash 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： ```bash 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 ```bash 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](https://1930597982-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LV7JLvsYnG7y7A2o-vp%2F-LeAafgopoJ4f8LUzmD2%2F-LeAagutFX84V4fabY_s%2Fgym_gazebo_success.png?generation=1557120342409311\&alt=media) #### 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](https://blog.csdn.net/wuguangbin1230/article/details/79300578) porter\@porter-Aspire:\~$ gedit /usr/share/applications/Pycharm.desktop ```bash [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 ```bash [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](https://blog.csdn.net/Dawn__Z/article/details/82454717) * 问题5：错误提示 ```bash entry = _cache.get(encoding, _unknown) AttributeError: ‘NoneType’ object has no attribute ‘get’ ``` 运行pycharm报错，内容如下： ![no attribute ‘get’](https://1930597982-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LV7JLvsYnG7y7A2o-vp%2F-Lf2VkiHV7Baeq0fR4Qw%2F-Lf2VneNogPp74gk9g3E%2Fgym_gazebo_err2.png?generation=1558058325985965\&alt=media) * 问题5：解决方式： settings -> tools ->Python Scientific ->Show plots in toolwindow(取消勾选) ![plots in toolwindow](https://1930597982-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LV7JLvsYnG7y7A2o-vp%2F-Lf2VkiHV7Baeq0fR4Qw%2F-Lf2VnePbHJ58wSLkRxA%2Fgym_gazebo_err3.png?generation=1558058326018146\&alt=media) ## gym-gazebo 测试 参见我的另一篇文章[gym-gazebo安装后的测试](https://porter.gitbook.io/deep-learning-series/di-si-zhang-ros-ji-qi-ren/gymgazebo-an-zhuang-hou-de-ce-shi)