Erle-Rover

  • Create a test_erlerover.py script
import gym
env = gym.make('GazeboMazeErleRoverLidar-v0')
env.reset()
  • Load the corresponding environment variables for Erle-Rover
cd gym/envs/gazebo/installation/
chmod +x erlerover_setup.bash
./erlerover_setup.bash
  • Load catkin workspace
source catkin_ws/devel/setup.bash
  • Run ArduRover
cd apm/ardupilot/ArduRover/
../Tools/autotest/sim_vehicle.sh -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/3DR_Rover.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/3DR_Rover.param
  • In another terminal load catkin workspace
source gym/envs/gazebo/installation/catkin_ws/devel/setup.bash
  • Run your script
python test_erlerover.py
  • See what is happening
gzclient