ROS has to be installed
Install Turtlebot3 https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/
Install Gazebo https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation
Install packages
sudo apt-get install ros-noetic-gazebo*
sudo apt-get install ros-noetic-cmake*
sudo apt-get install ros-noetic-tf2-sensor-msgs
Install Catkins
cd ~/catkin_ws && catkin_make
roslaunch drl_agent trainDQN.launch
roslaunch drl_agent trainA2C.launch
roslaunch drl_agent trainQL.launch
roslaunch drl_agent evalDQN.launch
roslaunch drl_agent evalA2C.launch
roslaunch drl_agent evalQL.launch
killall -9 gzserver gzclient
rqt_multiplot
You have to load the configuration that is in config/rqt_multiplot.xml
To modify simulation speed:
~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds
Normal:
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
20x:
<real_time_update_rate>0</real_time_update_rate>
<max_step_size>0.003</max_step_size>
Activate/Deactivate UI
~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/launch
<arg name="gui" value="true"/>
Using the console you can restart the map (also the topic):
rostopic pub -1 /syscommand std_msgs/String "data: 'reset'"
https://github.com/DLR-RM/stable-baselines3/tree/master/stable_baselines3/common https://stable-baselines3.readthedocs.io/en/master/index.html http://joschu.net/docs/nuts-and-bolts.pdf http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics http://wiki.ros.org/openai_ros https://gazebosim.org/tutorials?tut=physics_params&cat=physics