Introduction

This is a OpenAI-gym extension for Gazebo Melodic, based on the deprecated project from Erle Robotics: gym-gazebo

Unlike the previous version, this one uses current and stable versions of all necessary programs.

Requirements

• ROS Melodic Morenia : Install instructions, wiki

ROS Support Forum: https://discourse.ros.org

Gazebo Support Forum: http://answers.gazebosim.org/questions

• Ardupilot SITL 3.7.0 with ArduCopter (or APM:Copter) : Install instructions, code, wiki

Support Forum: http://discuss.ardupilot.org/

Community Site: http://ardupilot.org

Main developer wiki: http://dev.ardupilot.org

• Dronekit Python : Install instructions, code, wiki

• Theano : Install instructions

• libgpuarray (or pygpu) : Install instructions

Installation

Install some ROS-dependencies:

cd gym-ws/gym-ws
./ros-dependencies.sh

If this does not work try:

chmod u+x ros-dependencies

to make it executable and try it again.

In the root directory of the repository:

pip install -e .

If you have permission issues, try:

pip install -e . --user

Usage

cd gym-ws/gym-ws/src
python dronekit_hover_qlearn.py

Killing background processes

To end a simulation you should stop the python code with ctrl+c in your terminal. Sometimes gzserver, gzclient and rosmaster still working in the background. Make sure you end them before continuing, therefore you can create an alias in your .bashrc to kill these processes. After ending a simulation typ into a new tab oder terminal "kig" to use it.

echo "alias kig='killall -9 rosmaster gzserver gzclient rosout nodelet'" >> ~/.bashrc