Installation

Ubuntu 16.04

Basic requirements:

• ROS Kinetic
• Gazebo 8.1.1
• Python 2.7
• OpenCV
• OpenAI gym

install gym:

git clone https://github.com/openai/gym.git
cd gym
pip install -e .

install gazebo8:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo8
sudo apt-get install ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-control

ROS Kinetic dependencies

pip install rospkg catkin_pkg

sudo apt-get install \
cmake gcc g++ qt4-qmake libqt4-dev \
libusb-dev libftdi-dev \
python3-defusedxml python3-vcstool python3-pyqt4 \
python-skimage \
ros-kinetic-octomap-msgs        \
ros-kinetic-joy                 \
ros-kinetic-geodesy             \
ros-kinetic-octomap-ros         \
ros-kinetic-control-toolbox     \
ros-kinetic-pluginlib	       \
ros-kinetic-trajectory-msgs     \
ros-kinetic-control-msgs	       \
ros-kinetic-std-srvs 	       \
ros-kinetic-nodelet	       \
ros-kinetic-urdf		       \
ros-kinetic-rviz		       \
ros-kinetic-kdl-conversions     \
ros-kinetic-eigen-conversions   \
ros-kinetic-tf2-sensor-msgs     \
ros-kinetic-pcl-ros \
ros-kinetic-navigation \
ros-kinetic-ar-track-alvar-msgs \
libspnav-dev libbluetooth-dev \
libcwiid-dev pyqt4-dev-tools libffi-dev \
ros-kinetic-depthimage-to-laserscan \
ros-kinetic-image-view 

Install Sophus

cd
git clone https://github.com/stonier/sophus -b release/0.9.1-kinetic
cd sophus
mkdir build
cd build
cmake ..
make
sudo make install

Gazebo gym

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

Dependencies and libraries

# install Tensorflow
sudo pip install tensorflow
or
sudo pip install tensorflow-gpu

#install Keras
sudo pip install keras

Agent dependencies:

cd ~/gym-gazebo/gym_gazebo/envs/installation
bash setup_kinetic.bash	

remove cv2.so:

cd /opt/ros/kinetic/lib/python2.7/dist-packages/
sudo nautilus .
#do it using GUI
#remove or rename and check
pip install opencv-python

then:

vim ~/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml
replace line6 to
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'"/>

Run the environment with a sample agent:

cd ~/gym-gazebo/gym_gazebo/envs/installation
bash turtlebot_setup.bash
cd ~/gym-gazebo/examples
export ROS_PORT_SIM=11311
python turtlebot_lidar_qlearn.py

to see the simulation:

gzclient

If you don't want to export everytime

echo "export ROS_PORT_SIM=11311" >> .bashrc

Real Turtlebot and Kinect

install turtlebot need 3 parts: rocon, kobuki, and turtlebot. rocon don't have its apt package, so we install from source.

mkdir ~/rocon
cd ~/rocon
wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/indigo/rocon.rosinstall
source /opt/ros/indigo/setup.bash
rosdep install --from-paths src -i -y
catkin_make

sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgs

build connect to turtlebot

roslaunch turtlebot_bringup minimal.launch

control from your keyboard

roslaunch turtlebot_teleop keyboard_teleop.launch

install kinectdriver

mkdir ~/kinectdriver 
cd ~/kinectdriver 
git clone https://github.com/avin2/SensorKinect 
cd SensorKinect/Bin/
tar xvjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2
cd Sensor-Bin-Linux-x64-v5.1.2.1/
sudo ./install.sh

roslaunch openni_launch openni.launch

the driver above might not work, so we install another

sudo apt-get install libfreenect-dev ros-kinetic-freenect-launch

roslaunch freenect_launch freenect.launch

view image

rosrun image_view image_view image:=/camera/rgb/image_color
rosrun image_view image_view image:=/camera/depth/image

Kinect isn’t compatible with USB 3.0. Plug it into a USB 2.0 port. (Problems can also occur with USB 2.0 ports that are 3.0 compatible.). Troubleshooting: I don’t have a USB 2.0 port or it’s still giving the above errors

We’re going to disable USB 3.0 in the BIOS.

Boot into BIOS by rebooting your computer and holding down the F2 key (it could be a different key on your computer).
Go to the advanced tab.
This part varies depending on your computer. If you have a USB option go there first.
If your BIOS lists xHCI, disable it.
If your BIOS lists USB Debugging, enable it.
Save and exit BIOS.

Usage

Build and install gym-gazebo

In the root directory of the repository:

sudo pip install -e .

Running an environment

• Load the environment variables corresponding to the robot you want to launch. E.g. to load the Turtlebot:

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

Note: all the setup scripts are available in gym_gazebo/envs/installation

• Run any of the examples available in examples/. E.g.:

cd examples
python turtlrbot_

### Display the simulation

To see what's going on in Gazebo during a simulation, simply run gazebo client:

```bash
gzclient

Killing background processes

Sometimes, after ending or killing the simulation gzserver and rosmaster stay on the background, make sure you end them before starting new tests.

killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient