This is a simple 4-leg robot simulation model and integrated with reinforcement learning algorithm. Each of its leg has 4 DOF. The simulation platform is Gazebo using ROS control and openai_ros to integrate the model with the RL framework Gym.
- ubuntu 20.04. To set up the system with only python3
sudo apt install python-is-python3 - ROS-Noetic (Installation guide)
- Gazebo (contained in the
ros-noetic-desktop-fullin the above guide) - effort controller
sudo apt install ros-noetic-effort-controller - velocity controller
sudo apt install ros-noetic-velocity-controller - position controller
sudo apt install ros-noetic-position-controller
- Gazebo (contained in the
- Gym version 0.17.2
pip3 install gym - Torch version 1.7.1
pip3 install torch
Remember follow this guide to create a ROS workspace. e.g. ~/catkin_ws
Clone the repo and move it to ~/catkin_ws/src. Then run catkin_make at ~/catkin_ws
Firstly, run the simulation, cmd in [] is optional
roslaunch crawler world.launch [gui:=false]
Then run the training script in the script dir.
python crawlerD.py