conda 安装本地包_openai_ros的本地化安装及使用（2）openai_ros包安装

参考视频链接：ros+openai(3)本地安装_哔哩哔哩 (゜-゜)つロ 干杯~-bilibili

用手机热点连网，下载更快

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ..

catkin_make

下载我修改了的压缩包。

解压后拷贝到/catkin_ws/src文件夹中

安装controller

sudo apt-get install ros-kinetic-joint-state-controller

sudo apt-get install ros-kinetic-effort-controllers

sudo apt-get install ros-kinetic-position-controllers

sudo apt-get install ros-kinetic-ros-control

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

安装pip

sudo apt install python-pip

pip install --upgrade pip

pip install --upgrade pip

安装gym

pip install gym

可以尝试运行了

安装rqt_multiplot

sudo apt-get install ros-kinetic-rqt

sudo apt-get install libqwt-dev

sudo apt-get install ros-kinetic-rqt-multiplot

运行

rosrun rqt_multiplot rqt_multiplot

rosrun rqt_multiplot rqt_multiplot --force-discover

cd ~/catkin_ws/

source devel/setup.bash

roslaunch cartpole_description main.launch

开启新的终端（ctrl+shift+t）

cd ~/catkin_ws/

source devel/setup.bash

roslaunch cartpole_v0_training start_training.launch

开启新的终端（ctrl+shift+t）

rosrun rqt_multiplot rqt_multiplot

选择/openai/reward配置曲线