目錄

• • 前言：配置組合。
  • 1. 安裝Ubantu 18.04
  • 2. 安裝Anaconda
  • 3. 創建conda環境
  • 4. 安裝tensorflow 和 keras
  • 5. 安裝cuda和cudnn
  • 6. 安裝pycharm
  • 7. 安裝ROS melodic
  • 7. 安裝gym
  • 8. 安裝gym-gazebo
  • 8. openai_ROS
  • 9. 踩坑參考

前言：配置組合。

硬件配置：NVIDIA 1050Ti顯卡（3g顯存）。
合理組合：Ubantu 18.04 + 顯卡驅動 418 + tensorflow-gpu 1.13.1 + Keras 2.3.1+ cuda 10.0 + cudnn 7.6.5 + python 3.6 + ROS melodic + gazebo 9.0。

1. 安裝Ubantu 18.04

2. 安裝Anaconda

---

download anaconda from https://mirrors.tuna.tsinghua.edu.cn/help/anaconda/

bash Anaconda3-5.2.0-Linux-x86_64.sh sudo gedit ~/.bashrc

注冊表中加入：

export PATH=~/anaconda3/bin:$PATH source ~/.bashrc

3. 創建conda環境

此處需要創建環境并激活（除了顯卡驅動之外所有的依賴項全都安裝在這個環境下，當然你可以創建很多個環境）

conda create -n tf1 python=3.6

激活環境

conda activate tf1

4. 安裝tensorflow 和 keras

pip install tensorflow-gpu==1.14.0 -i https://pypi.tuna.tsinghua.edu.cn/simple pip install keras==2.3.1 -i https://pypi.tuna.tsinghua.edu.cn/simple pip install opencv-python==3.4.3.18

Keras在tensorflow2后作為子模塊被調用

pip install tensorflow-gpu==2.1.0 -i https://pypi.tuna.tsinghua.edu.cn/simple

5. 安裝cuda和cudnn

conda install cudatoolkit=10.0 -c https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/linux-64/ conda install cudnn=7.6.5 -c https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/linux-64/

6. 安裝pycharm

sudo snap install [pycharm-community] --classic

7. 安裝ROS melodic

配置 Ubuntu 軟件倉庫

添加ROS源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

設置密鑰

sudo apt install curl curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add --

安裝 ROS

sudo apt update sudo apt install ros-melodic-desktop-full

配置環境

echo "source /opt/ros/melodic/setup.bash" >>~/.bashrc source ~/.bashrc

安裝構建包所需依賴

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

初始化 rosdep

sudo rosdep init

更新本地 rosdep 數據庫

rosdep update

添加環境變量

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc source ~/.bashrc sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

安裝ROS Melodic相關的依賴

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

安裝gazebo庫

cd ~/.gazebo/ mkdir -p models cd ~/.gazebo/models/ wget http://file.ncnynl.com/ros/gazebo_models.txt wget -i gazebo_models.txt ls model.tar.g* | xargs -n1 tar xzvf mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace cd .. catkin_make

安裝controller庫

sudo apt-get install ros-melodic-joint-state-controller sudo apt-get install ros-melodic-effort-controllers sudo apt-get install ros-melodic-position-controllers sudo apt-get install ros-melodic-ros-control sudo apt-get install ros-melodic-gazebo-ros-pkgs sudo apt-get install ros-melodic-gazebo-ros-control sudo apt-get install ros-melodic-joint-trajectory-controller

安裝rqt_multiplot

sudo apt-get install ros-melodic-rqt sudo apt-get install libqet-dev sudo apt-get install ros-melodic-rqt-multiplot

7. 安裝gym

sudo pip install gym pip install scikit-image pip install opencv-python sudo apt-get install python-skimage sudo pip install h5py sudo pip install keras

8. 安裝gym-gazebo

安裝gym-gazebo

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

運行 bash 文件，構建 ros 工作區：

cd gym-gazebo/gym_gazebo/envs/installation bash setup_melodic.bash

8. openai_ROS

git clone https://bitbucket.org/theconstructcore/openai_examples_projects.git git clone https://bitbucket.org/theconstructcore/openai_ros.git

9. 踩坑參考

gazebo報錯

Reference：

ROS 1 安裝——從手動到自動：以 Ubuntu 18.04 + ROS Melodic 為例

ROS Melodic安裝配置OpenAI

Ubuntu install of ROS Melodic

openai_ros wiki

openai_ros教程 (The constuct)

porterpan/gym-gazebo (github)

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