Erle-Copter is still a work in progress

  • Create a script
import gym
env = gym.make('GazeboOfficeErleCopterLidar-v0')
  • Load the corresponding environment variables for Erle-Copter
cd gym/envs/gazebo/installation/
chmod +x erlecopter_setup.bash
  • Load catkin workspace
source catkin_ws/devel/setup.bash
  • Run ArduCopter
cd apm/ardupilot/ArduCopter/
../Tools/autotest/ -j4 -f Gazebo
  • Once MAVProxy has launched completely, load the parameters (in the same terminal)
param load /[path_to_gym_directory]/gym/envs/gazebo/installation/apm/ardupilot/Tools/Frame_params/Erle-Copter.param
# NOTE: replace [path_to_gym_directory] with the actual path to your Gym repository directory (with no `~` for home directory)
# Example: param load /home/john/gym/envs/gazebo/installation/apm/ardupilot/Tools/Frame_params/Erle-Copter.param
  • In another terminal load catkin workspace
source gym/envs/gazebo/installation/catkin_ws/devel/setup.bash
  • Run your script
  • See what is happening