# 1.19 gym\_gazabe安装配置

本文主要记录gym\_gazebo安装的过程，想想每次安装都要一堆的百度，过程很痛苦，所以直接记录下我成功安装的过程，方便后面安装的参考。

具体内容如下： 

* [摘要](https://porter.gitbook.io/deep-learning-series/index/pages/-Le4ws-Wx3L0y73GpTU3#摘要)
  * [解决ubuntu 中安装 gym\_gazabe 遇到的各种水土不服](https://porter.gitbook.io/deep-learning-series/index/pages/-Le4ws-Wx3L0y73GpTU3#解决ubuntu-中安装-gym_gazabe-遇到的各种水土不服)
    * [Basic requirements:](/deep-learning-series/index/1.19-gymgazabe-an-zhuang-pei-zhi.md#basic-requirements)
    * [ROS Kinetic dependencies](/deep-learning-series/index/1.19-gymgazabe-an-zhuang-pei-zhi.md#ros-kinetic-dependencies)
    * [Install Sophus](/deep-learning-series/index/1.19-gymgazabe-an-zhuang-pei-zhi.md#install-sophus)
    * [Gazebo gym](/deep-learning-series/index/1.19-gymgazabe-an-zhuang-pei-zhi.md#gazebo-gym)
    * [Dependencies and libraries](/deep-learning-series/index/1.19-gymgazabe-an-zhuang-pei-zhi.md#dependencies-and-libraries)
    * [Agent dependencies](/deep-learning-series/index/1.19-gymgazabe-an-zhuang-pei-zhi.md#font-color--redagent-dependencies-font)
    * [Run the environment with a sample agent](/deep-learning-series/index/1.19-gymgazabe-an-zhuang-pei-zhi.md#run-the-environment-with-a-sample-agent)

## 解决ubuntu 中安装 gym\_gazabe 遇到的各种水土不服

### Basic requirements:

* ROS Kinetic (/rosversion: 1.12.7)
* Gazebo 8.1.1
* Python 3.5.2
* OpenCV3, installed from sources for Python 3 (git clone <https://github.com/Itseez/opencv.git>)
* OpenAI gym

> 这部分的安装请自行百度, 但是这部分的内容也要安装上，不然安装gym\_gazebo会出错的。

### ROS Kinetic dependencies

```bash
sudo pip3 install rospkg catkin_pkg

sudo apt-get install python3-pyqt4

sudo apt-get install \
cmake gcc g++ qt4-qmake libqt4-dev \
libusb-dev libftdi-dev \
python3-defusedxml python3-vcstool \
libbluetooth-dev libspnav-dev \
pyqt4-dev-tools libcwiid-dev \
ros-kinetic-octomap-msgs        \
ros-kinetic-joy                 \
ros-kinetic-geodesy             \
ros-kinetic-octomap-ros         \
ros-kinetic-control-toolbox     \
ros-kinetic-pluginlib           \
ros-kinetic-trajectory-msgs     \
ros-kinetic-control-msgs           \
ros-kinetic-std-srvs            \
ros-kinetic-nodelet           \
ros-kinetic-urdf               \
ros-kinetic-rviz               \
ros-kinetic-kdl-conversions     \
ros-kinetic-eigen-conversions   \
ros-kinetic-tf2-sensor-msgs     \
ros-kinetic-pcl-ros \
ros-kinetic-navigation \
ros-kinetic-ar-track-alvar-msgs
```

### 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"
```

### Gazebo gym

```bash
cd 
git clone https://github.com/erlerobot/gym-gazebo
cd gym-gazebo
sudo pip3 install -e .
```

### Dependencies and libraries

```bash
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
```

### Agent dependencies

这部分的安装可以参考我的github 仓库(gazebo.repos 已经修改过,并且在ubuntu16上正确编译安装通过，可以直接clone下来安装,我只修改了gazebo.repos,设置/usr/local/python3.5环境):

&#x20;这部分的安装需要注意请尽量用"/usr/local/bin/python3.5"如果用anaconda的python环境下安装，会出现Cmake 报错,如果你有解决的办法可以忽略提示

> 切换python 环境，只需要执行如下命令：

```bash
vim ~/.bashrc
# 修改弹出的文本，将export anaconda这行注释掉，如下所示
# added by Anaconda3 4.2.0 installer
#export PATH="/home/porter/anaconda3/bin:$PATH"
```

效果如下：

![从anaconda 切换到系统自带的python3.5](/files/-Le4wsvIyiBkgpAcWXSm)

> 安装前需要配置下Agent 的gazebo.repos
>
> ```bash
> cd ~/gym-gazebo/gym_gazebo/envs/installation/
> cp ./gazebo.repos ./gazebo.repos.bak
> gedit ~/gym-gazebo/gym_gazebo/envs/installation/gazebo.repos
> ```
>
> * gazebo.repos 内容如下
>
>   主要修改一些github 仓库对应版本release的分支问题, 解决安装时的错误， 修改后的内容如下：

```bash
repositories:
#  ardupilot_sitl_gazebo_plugin:
#    type: git
#    url: https://github.com/erlerobot/ardupilot_sitl_gazebo_plugin
#
#    version: master

  ar_track_alvar:
    type: git
    url: https://github.com/ros-perception/ar_track_alvar.git
    version: kinetic-devel

  mav_comm:
    type: git
    url: https://github.com/ethz-asl/mav_comm.git
    version: master
#  ar_track_alvar:
#    type: git
#    url: https://github.com/sniekum/ar_track_alvar
#    version: indigo-devel
#  ar_track_alvar_msgs:
#    type: git
#    url: https://github.com/sniekum/ar_track_alvar_msgs
#    version: indigo-devel
  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: indigo-devel
#  drcsim:
#    type: hg
#    url: https://bitbucket.org/osrf/drcsim
#    version: default
  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: devel
  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: indigo-devel
#  glog_catkin:
#    type: git
#    url: https://github.com/ethz-asl/glog_catkin.git
#    version: master
  hector_gazebo:
    type: git
    url: https://github.com/tu-darmstadt-ros-pkg/hector_gazebo/
    version: indigo-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: indigo
  kobuki_core:
    type: git
    url: https://github.com/yujinrobot/kobuki_core
    version: indigo
  kobuki_desktop:
    type: git
    url: https://github.com/erlerobot/kobuki_desktop
    version: indigo
  kobuki_msgs:
    type: git
    url: https://github.com/yujinrobot/kobuki_msgs
    version: indigo
#  mavros:
#    type: git
#    url: https://github.com/erlerobot/mavros.git
#    version: gazebo_udp
#  mav_comm:
#    type: git
#    url: https://github.com/PX4/mav_comm.git
#    version: master
  navigation:
    type: git
    url: https://github.com/ros-planning/navigation
    version: indigo-devel
#  osrf-common:
#    type: hg
#    url: https://bitbucket.org/osrf/osrf-common
#    version: default
  pcl_ros:
    type: git
    url: https://github.com/ros-perception/perception_pcl.git
    version: indigo-devel
#  python_qt_binding:
#    type: git
#    url: https://github.com/ros-visualization/python_qt_binding
#    version: kinetic-devel
#  qt_gui_core:
#    type: git
#    url: https://github.com/ros-visualization/qt_gui_core
#    version: groovy-devel
  realtime_tools:
    type: git
    url: https://github.com/ros-controls/realtime_tools
    version: indigo-devel
  ros_control:
    type: git
    url: https://github.com/ros-controls/ros_control
    version: indigo-devel
  roslint:
    type: git
    url: https://github.com/ros/roslint
    version: master
#  rqt:
#    type: git
#    url: https://github.com/ros-visualization/rqt
#    version: groovy-devel
#  rqt_common_plugins:
#    type: git
#    url: https://github.com/ros-visualization/rqt_common_plugins
#    version: master
#  rqt_robot_plugins:
#    type: git
#    url: https://github.com/ros-visualization/rqt_robot_plugins
#    version: master
  turtlebot:
    type: git
    url: https://github.com/turtlebot/turtlebot
    version: indigo
  turtlebot_create:
    type: git
    url: https://github.com/turtlebot/turtlebot_create
    version: indigo
  turtlebot_simulator:
    type: git
    url: https://github.com/turtlebot/turtlebot_simulator
    version: indigo
  xacro:
    type: git
    url: https://github.com/ros/xacro
    version: indigo-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
```

> 具体的修改地方建议，通过code compare 工具查看，这里推荐一个好用而代码比较工具：Meld Diff 比较好用。

* 接下来执行如下Agent dependences

```bash
cd gym_gazebo/envs/installation
bash setup_kinetic.bash
```

![gym\_gazebo 正确安装过程](/files/-Le4wsvR5yhj9THoOriC)

### Run the environment with a sample agent

```bash
cd gym_gazebo/examples/scripts_turtlebot
python circuit2_turtlebot_lidar_qlearn.py
```


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://porter.gitbook.io/deep-learning-series/index/1.19-gymgazabe-an-zhuang-pei-zhi.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.