安装环境:
系统:ubuntu18.04 ubuntu16.04(已弃用) ubuntu14.04(已弃用)
ROS:Melodic
Gzebo:9.0
ROS相关依赖:
sudo apt-get install \
python-pip python3-vcstool python3-pyqt4 \
pyqt5-dev-tools \
libbluetooth-dev libspnav-dev \
pyqt4-dev-tools libcwiid-dev \
cmake gcc g++ qt4-qmake libqt4-dev \
libusb-dev libftdi-dev \
python3-defusedxml python3-vcstool \
ros-melodic-octomap-msgs \
ros-melodic-joy \
ros-melodic-geodesy \
ros-melodic-octomap-ros \
ros-melodic-control-toolbox \
ros-melodic-pluginlib \
ros-melodic-trajectory-msgs \
ros-melodic-control-msgs \
ros-melodic-std-srvs \
ros-melodic-nodelet \
ros-melodic-urdf \
ros-melodic-rviz \
ros-melodic-kdl-conversions \
ros-melodic-eigen-conversions \
ros-melodic-tf2-sensor-msgs \
ros-melodic-pcl-ros \
ros-melodic-navigation \
ros-melodic-sophus
安装python包:
sudo pip install gym
sudo apt-get install python-skimage
sudo pip install h5py
pip install tensorflow-gpu (如果你没有gpu则用这条指令: pip install tensorflow)
sudo pip install keras
安装gym-gazebo:
cd ~
git clone https://github.com/erlerobot/gym-gazebo
cd gym-gazebo
sudo pip install -e .
运行bash文件,构建ros工作区:
cd gym-gazebo/gym_gazebo/envs/installation
bash setup_melodic.bash
执行示例测试:
运行q-learn的示例:
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
运行dqn的示例:
终端1:
cd gym-gazebo/gym_gazebo/envs/installation/
bash turtlebot_nn_setup.bash
终端2:
cd gym-gazebo/examples/turtlebot
python circuit_turtlebot_lidar_qlearn.py
使用神经网络
只有使用Deep Q-Learning的环境才需要安装的这一部分。
Keras和Theano安装
# 安装依赖
sudo apt-get install gfortran
# 安装 sript 特定的依赖(时间)
sudo apt-get install python-skimage
# 安装 Theano
git clone git://github.com/Theano/Theano.git
cd Theano/
sudo python setup.py develop
#安装 Keras
sudo pip install keras
dot_parser错误修复:
sudo pip install --upgrade pydot
sudo pip install --upgrade pyparsing
对Theano进行GPU加速
按照此处的说明更改$ PATH而不是$ CUDA_ROOT。
使用CUDA 10.0进行Ubuntu 18.04的全新安装。
要在GPU模式下执行,需要使用以下标志,建议使用别名。
THEANO_FLAGS=mode=FAST_RUN,device=gpu,floatX=float32
可能遇到的问题:
在执行这段指令:bash setup_melodic.bash
c++:internal compiler error:killked(program cclplus) 解决办法
https://blog.csdn.net/qq_25680531/article/details/81112295
估计是我在虚拟机上运行的缘故,改用实体机测试下
参考:https://blog.csdn.net/zhangdadadawei/article/details/78906103