官网流程安装：
https://github.com/erlerobot/gym-gazebo
一、环境与依赖
1.基本环境：
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
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