# 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](#摘要) * [解决ubuntu 中安装 gym\_gazabe 遇到的各种水土不服](#解决ubuntu-中安装-gym_gazabe-遇到的各种水土不服) * [Basic requirements:](#basic-requirements) * [ROS Kinetic dependencies](#ros-kinetic-dependencies) * [Install Sophus](#install-sophus) * [Gazebo gym](#gazebo-gym) * [Dependencies and libraries](#dependencies-and-libraries) * [Agent dependencies](#font-color--redagent-dependencies-font) * [Run the environment with a sample agent](#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 ) * 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): 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](https://1930597982-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LV7JLvsYnG7y7A2o-vp%2F-Le4wrKGRkIhS2r0dXyC%2F-Le4wsvIyiBkgpAcWXSm%2Frose_install_gym_source1.png?generation=1557025493789802\&alt=media) > 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](https://1930597982-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LV7JLvsYnG7y7A2o-vp%2F-Le4wrKGRkIhS2r0dXyC%2F-Le4wsvR5yhj9THoOriC%2Frose_install_gym_gazebo1.png?generation=1557025493912259\&alt=media) ### Run the environment with a sample agent ```bash cd gym_gazebo/examples/scripts_turtlebot python circuit2_turtlebot_lidar_qlearn.py ```