gym-gazebo is a complex piece of software for roboticists that puts together simulation tools, robot middlewares (ROS, ROS 2), machine learning and reinforcement learning techniques. All together to create an environment whereto benchmark and develop behaviors with robots. Setting up gym-gazebo appropriately requires relevant familiarity with these tools.
Refer to INSTALL.md
In the root directory of the repository:
sudo pip install -e .To run the cartpole environment go to directory where gym-gazebo is contained, then run:
source enph353_gym-gazebo/gym_gazebo/envs/ros_ws/devel/setup.bash
cd enph353_gym-gazebo/examples/gazebo_cartpole
python gazebo_cartpole_v0.py
To run the robot environment go to directory where gym-gazebo is contained, then run:
source enph353_gym-gazebo/gym_gazebo/envs/ros_ws/devel/setup.bash
cd enph353_gym-gazebo/examples/adeept_awr
python enph_ai_adeept_awr_empty_qlearn.py
Sometimes, after ending or killing the simulation gzserver and rosmaster stay on the background, make sure you end them before starting new tests.
We recommend creating an alias to kill those processes.
echo "alias killgazebogym='killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient'" >> ~/.bashrc