ubuntu16 安装gym-gazebo

Machine Learning

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)

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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。

  • [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

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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)
  • 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：

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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：

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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：

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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。

Install Sophus

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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

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

Dependencies and libraries

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

install Theano

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

install Keras

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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:

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# 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:

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# 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):

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... (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

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

2.查询ros的所有功能包

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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
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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
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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

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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

  • 错误1：解决：

搜索这个功能包

manipulation_msgsconfig.search

能找到这个ros-kinetic-manipulation-msgs 包

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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：
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" 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

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apt-cache search ros-kinetic | grep tf2_geometry_msgs

发现存在这个包

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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

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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):

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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：

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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。

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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

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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

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[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
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[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
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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

本文标题:ubuntu16 安装gym-gazebo

文章作者:

发布时间:2019-04-06, 22:55:03

最后更新:2024-06-14, 16:38:29

原始链接:https://blogs.porterpan.top/ubuntuinstallGym/

许可协议: "署名-非商用-相同方式共享 4.0" 转载请保留原文链接及作者。

文章目录
  1. 1. 目录
  2. 2. 第一部分安装gym-gazebo
    1. 2.1. 下载安装文件
    2. 2.2. 安装依赖环境
      1. 2.2.1. Basic requirements:
      2. 2.2.2. Install Sophus
    3. 2.3. 安装gym-gazebo
      1. 2.3.1. Dependencies and libraries
      2. 2.3.2. install Theano
      3. 2.3.3. install Keras
    4. 2.4. Try it out (turtlebot simple env)
      1. 2.4.1. Agent dependencies:
    5. 2.5. Run the environment with a sample agent:
  3. 3. 第二部分：附录
    1. 3.1. ROS 中功能包的安装与查询
      1. 3.1.1. 1.查询当前安装完成的所有包文件
      2. 3.1.2. 2.查询ros的所有功能包
    2. 3.2. 安装错误解决
      1. 3.2.1. 错误1：
      2. 3.2.2. 问题2
      3. 3.2.3. 问题3：
  4. 4. gazebo.repos　内容修改
  5. 5. 安装结束效果
    1. 5.0.1. 问题4：
    2. 5.0.2. 问题5：
  • 6. gym-gazebo 测试
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