安装gym gazebo

安装gym-gazebo

第一步：安装python3.5.2
参考这个网页的链接安装
https://tecadmin.net/install-python-3-5-on-ubuntu/#
第二步：安装opencv3.0
使用python3安装，参考这个网页的链接安装
http://cyaninfinite.com/tutorials/installing-opencv-in-ubuntu-for-python-3/
第三步：安装openai gym;
参考这个网页安装
https://github.com/openai/gym
注意：将pip全部替换成pip3
需要安装全部版本的。
第四步：安装ros kinetic
http://wiki.ros.org/kinetic/Installation/Ubuntu
问题
安装完之后，ros自带的opencv时基于python2.7的，与python3.5.2不兼容，解决方案: 删除cv2.so

cd /opt/ros/kinetic/lib/python2.7/dist-packages
sudo rm cv2.so`

第五步：安装gym-gazebo
按照教程安装
https://github.com/erlerobot/gym-gazebo/blob/master/INSTALL.md#ubuntu-1604
最后的时候的指令

cd /home/zhw/gym-gazebo/gym_gazebo/envs/installation
bash setup_kinetic.bash
bash turtlebot_setup.bash
bash turtlebot_nn_setup.bash

安装的时候可能出现的问题

问题1 先出现的是msg的问题
解决方法：

cd /home/zhw/gym-gazebo/gym_gazebo/envs/installation

然后open gazebo.repos文件
在其中加入：

  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

问题2：
在使用bash setup_kinetic.bash进行安装的过程中，会出现make j-1等错误，找到问题点之后，一对一解决：
1）spacenav_node not compiling. CATKIN_IGNOREd.

touch /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/joystick_drivers/spacenav_node/CATKIN_IGNORE

2） wiimote not compiling. CATKIN_IGNOREd.

touch /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/joystick_drivers/wiimote/CATKIN_IGNORE

3）kobuki_qtestsuite not compiling. CATKIN_IGNOREd.

touch /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/kobuki_desktop/kobuki_qtestsuite/CATKIN_IGNORE

当测试安装是否完成时，使用

cd /home/zhw/gym-gazebo/examples/turtlebot
export ROS_PORT_SIM=11311
python3 circuit2_turtlebot_lidar_qlearn.py

这是因为没有把 ROS_PORT_SIM设置成为环境变量，导致了在gazebo_env.py文件中的

port = os.environ["ROS_PORT_SIM"]

不能正确识别ROS_PORT_SIM这个变量

问题3：
在运行 ‘python circuit2_turtlebot_lidar_qlearn.py ’ 报错

while processing /home/harish/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/harish/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro'] returned with code [2].
Param xml is 
The traceback for the exception was written to the log file

解决方法

使用gedit打开kobuki.launch.xml文件

gedit /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml

然后，将第六行替换成：

<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'"/>

2018年1月6日补充：

看到github有人给了安装教程，解决python2和python3不兼容的问题，有如下解决方案：

2to3 -w /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/control_toolbox/cfg/Parameters.cfg

2to3 -w /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model

2to3 -w /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/gazebo_interface.py

安装gym-gazebo

安装的时候可能出现的问题

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