基于ubuntu16.04和ROS-kinetic安装gym-gazebo时候遇到不少BUG
官方已不再对ubuntu16.04下的gym-gazebo提供支持，不过要想用，也是可以装的。
一般的安装操作可参考：
(1) 大佬博客；
(2) 官方github；
不过我在安装的过程中还是遇到了各式各样的坑，现在进行总结，希望后人少踩坑。
1. 其中在bash setup_kinetic.bash时候，
遇到提示setup kinetic.bash: line 76: vcs: command not found，这个问题看似不显眼，但必须要解决。
解决办法：
1 sudo apt-get install python3-vcstool
2. 同样在bash setup_kinetic.bash过程中，
（这个问题真的坑了我好久）：
（1）提示找不到 /home/xy/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/devel/setup.bash， 然后就是一顿google，最终发现把setup_kinetic.bash文件更改一下，替换成下面这样即可通过bash：
1 #!/bin/bash 2 if [ -z "$ROS_DISTRO" ]; then 3 echo "ROS not installed. Check the installation steps: https://github.com/erlerobot/gym#installing-the-gazebo-environment" 4 fi 5 6 program="gazebo" 7 condition=$(which $program 2>/dev/null | grep -v "not found" | wc -l) 8 if [ $condition -eq 0 ] ; then 9 echo "Gazebo is not installed. Check the installation steps: https://github.com/erlerobot/gym#installing-the-gazebo-environment" 10 fi 11 12 source /opt/ros/kinetic/setup.bash 13 14 # Create catkin_ws 15 ws="catkin_ws" 16 if [ -d $ws ]; then 17 echo "Error: catkin_ws directory already exists" 1>&2 18 fi 19 src=$ws"/src" 20 mkdir -p $src 21 cd $src 22 catkin_init_workspace 23 24 # Import and build dependencies 25 cd ../../catkin_ws/src/ 26 vcs import < ../../gazebo.repos 27 cd ../ 28 catkin_make 29 bash -c 'echo source `pwd`/devel/setup.bash >> ~/.bashrc' 30 echo "## ROS workspace compiled ##" 31 32 # add own models path to gazebo models path 33 if [ -z "$GAZEBO_MODEL_PATH" ]; then 34 bash -c 'echo "export GAZEBO_MODEL_PATH="`pwd`/../../assets/models >> ~/.bashrc' 35 exec bash #reload bashrc 36 fi 37 38 echo "finish setup_kinetic!"
3. 在运行下面这个简单的测试环境时，
1 cd gym_gazebo/examples/scripts_turtlebot 2 python circuit2_turtlebot_lidar_qlearn.py
报错：
1 nuc@xy:~/gym-gazebo/examples/turtlebot$ python circuit2_turtlebot_lidar_qlearn.py 2 ... 3 Traceback (most recent call last): 4 File "/home/xy/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model", line 32, in <module> 5 import tf.transformations as tft 6 File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/__init__.py", line 28, in <module> 7 from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException 8 File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module> 9 from tf2_py import * 10 File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module> 11 from ._tf2 import * 12 ImportError: dynamic module does not define module export function (PyInit__tf2) 13 ... 14 [spawn_turtlebot_model-3] process has died [pid 22795, exit code 1, cmd /home/xy/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -unpause -urdf -param robot_description -model mobile_base __name:=spawn_turtlebot_model __log:=/home/xy/.ros/log/fac134ea-6ea1-11ea-bacb-e470b8e684d0/spawn_turtlebot_model-3.log]. 15 log file: /home/xy/.ros/log/fac134ea-6ea1-11ea-bacb-e470b8e684d0/spawn_turtlebot_model-3*.log
这个问题同样隔应了我好久，最后发现把gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model文件中第一行内容更改一下即可：
1 #!/usr/bin/env python 2 将上面内容替换为： 3 #!/usr/bin/env python2
4. 在这之后，又遇到一个报错：
1 nuc@xy:~/gym-gazebo/examples/turtlebot$ python circuit2_turtlebot_lidar_qlearn.py 2 3 [Err] [Plugin.hh:165] Failed to load plugin libhector_gazebo_ros_sonar.so: libhector_gazebo_ros_sonar.so: cannot open shared object file: No such file or directory
解决办法：
1 nuc@xy:~$ sudo apt install ros-kinetic-hector-gazebo*
至此，我在安装gym-gazebo过程中所遇到BUG都在这儿了。大家有其他问题可以留言讨论。
5. 安装完成后，做一系列测试
主要参考：官方链接
