ubuntu18.04 + pytorch+ ros-melodic+gazebo

ubuntu18.04安装跳过

一行代码搞定rosdepc curl http://fishros.com/tools/install/rosdepc | bash

下载安装anaconda：

https://mirrors.tuna.tsinghua.edu.cn/anaconda/archive/Anaconda3-2021.11-Linux-x86_64.sh

bash Anaconda3-2021.11-Linux-x86_64.sh

创建安装虚拟环境：

conda env create -f py2.yaml

conda activate py2

cd catkin_wp/src

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

cd ..

catkin_make

source ~/catkin_wp/devel/setup.bash

roslauch turtlebot3_gazebo turtlebot3_stage1.launch

git clone 这个包 -不用编译

环境搭建完成？？？！！！

N_STATES = 28 N_ACTIONS = 5

效果：

PPO

https://www.bilibili.com/video/BV1zq4y1g7aM/

DQN:

https://www.bilibili.com/video/BV1BP4y1G7b1/

启动仿真环境： roslaunch turtlebot3_gazebo turtlebot3_stage_2.launch 在vscore启动DQN2.py

效果：环境1：150回合收敛 环境2：200回合收敛 环境3：未测试 环境4：未测试 其他环境：未测试 如果你有好的注意可以提出来，欢迎交流。QQ：2650326396 拥抱开源