search

jr-robotics / robo-gym

An open source toolkit for Distributed Deep Reinforcement Learning on real and simulated robots.
https://sites.google.com/view/robo-gym
MIT License
414 stars 74 forks source link

how to get the topic and use gazebo #23

Closed analysisgxh closed 3 years ago

analysisgxh commented 3 years ago

1.when use gui=true,it launch rviz,but i want to launch gazebo to simulation 2.apparently,the project use ros,but in a new terminal,rostopic list ,it show 'ERROR: Unable to communicate with master!',i guess that is related to tmux. 3.please give more examples!!!

matteolucchi commented 3 years ago

Hi @gaoxiaohuicoco, thank you for using robot-gym.

1.when use gui=true,it launch rviz,but i want to launch gazebo to simulation

In all the environments you can modify the cmd line (for example here https://github.com/jr-robotics/robo-gym/blob/cf6af29dd2a7542251ce42f90540c71e518836f0/robo_gym/envs/ur10/ur10.py#L449-L451) but you can change that by specifying the following arguments rviz_gui and gazebo_gui, by default only rviz_gui is set to true but you can have it like you prefer and have either one of them or both.

2.apparently,the project use ros,but in a new terminal,rostopic list ,it show 'ERROR: Unable to communicate with master!',i guess that is related to tmux.

Yes, all the ROS part runs in a tmux server. You can access the server with tmux -L ServerManager and move around the different sessions with the standard tmux commands (https://tmuxcheatsheet.com)

3.please give more examples!!!

We are working on that, if you a specific idea about an example that you would like to see please let us know