ubuntu20.04安装 gym-gazebo

官网流程安装：
https://github.com/erlerobot/gym-gazebo

一、环境与依赖

1.基本环境：

• ROS Noetic
• Gazebo11.11.0

2.ROS相关依赖：

sudo apt-get install \
python3-pip python3-vcstool python3-pyqt5 \
pyqt5-dev-tools \
libbluetooth-dev libspnav-dev \
pyqt5-dev-tools libcwiid-dev \
cmake gcc g++ qt5-qmake libqt5-dev \
libusb-dev libftdi-dev \
python3-defusedxml python3-vcstool \
ros-noetic-octomap-msgs        \
ros-noetic-joy                 \
ros-noetic-geodesy             \
ros-noetic-octomap-ros         \
ros-noetic-control-toolbox     \
ros-noetic-pluginlib	       \
ros-noetic-trajectory-msgs     \
ros-noetic-control-msgs	       \
ros-noetic-std-srvs 	       \
ros-noetic-nodelet	       \
ros-noetic-urdf		       \
ros-noetic-rviz		       \
ros-noetic-kdl-conversions     \
ros-noetic-eigen-conversions   \
ros-noetic-tf2-sensor-msgs     \
ros-noetic-pcl-ros \
ros-noetic-navigation \
ros-noetic-sophus

    python相关依赖

sudo pip install gym
sudo apt-get install python-skimage
sudo pip install h5py
pip install tensorflow-gpu (if you have a gpu if not then just pip install tensorflow)
sudo pip install keras

二、安装

   1. 安装gym-gazebo

cd ~
git clone https://github.com/erlerobot/gym-gazebo
cd gym-gazebo
sudo pip install -e .

    2.建立ros工作空间

cd gym-gazebo/gym_gazebo/envs/installation
bash setup_melodic.bash

三、测试

终端1

cd gym-gazebo/gym_gazebo/envs/installation/
bash turtlebot_setup.bash

终端2

cd gym-gazebo/examples/turtlebot
python circuit_turtlebot_lidar_qlearn.py