This repo focus on the research topic about reward shaping via optimal control theory

1. Install miniconda3 (or anaconda if you like).
2. Create a new conda environment and do all the following steps in this environment.

conda create --name [env_name] python=3.5
conda activate [env_name]

3. Install missing python-packages, such as gym, numpy, tensorflow(or tensorflow-gpu), matplotlib, joblib, keras, mpi4py, cycler,

conda install [pkg_name]
pip install -U [pkg_name]

4. Install Gazebo8, ROS kinetic, MATLAB2019a for you computer.
5. Install gazebo-ros from gazebo website. Note the matching between gazebo version and ROS version. Here I use gazebo8 and ROS kinetic.

1. No module named rospy

    cd $CONDA_PREFIX
	mkdir -p ./etc/conda/activate.d
	mkdir -p ./etc/conda/deactivate.d
	touch ./etc/conda/activate.d/env_vars.sh
	touch ./etc/conda/deactivate.d/env_vars.sh

And edit env_vars.sh:

#!/bin/sh
export PYTHONPATH=$PYTHONPATH:/opt/ros/kinetic/lib/python2.7/dist-packages

2. No module named rospkg

pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools

3. ImportError: dynamic module does not define module export function (PyInit__tf2)

• First, create catkin_ws folder at whereever you want:

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src

• Second, download ROS package tf2, tf, hector_sensor_description from github into src folder

• Third, re-build these packages using catkin build command:

catkin build -DPYTHON_EXECUTABLE=path_to_miniconda/envs/[env_name]/bin/python3.5

• Finally, Edit $CONDA_PREFIX/etc/conda/activate.d/env_vars.sh again:

source /opt/ros/kinetic/setup.bash
source path_to_catkin_ws/catkin_ws/devel/setup.bash

4. sys/os/glnxa64/libstdc++.so.6: version `CXXABI_1.3.11' not found

cd  path_to_matlab/MATLAB/R2018b/sys/os/glnxa64
mkdir exclude
mv libstdc++.so.6* exclude/
ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6 libstdc++.so.6
ln -s /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.xx libstdc++.so.6.0.xx

5. If you meet problems with xacro, saying no module named "glob" or "re", you need download xacro from github into catkin_ws src folder and compile it using python3.5 manully.
6. Everytime you build something new in catkin_ws, remember to source the env_vars again.
7. For this project, you also need edit on env_vars.sh like:

export PROJ_HOME=/local-scratch/xlv/reward_shaping_ttr
export QUADROTOR_WORLD_AIR_SPACE=$PROJ_HOME/worlds/air_space.world
export DUBINS_CAR_WORLD_CIRCUIT_GROUND=$PROJ_HOME/worlds/circuit_ground.world

export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311

alias killgazebogym='killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient'

1. After you clone this repo to your local, here is a few things you may need do

• change the $PROJ_HOME in env_vars.sh

$PROJ_HOME = 'path you place this repo at'

• you may need to recompile catkin_ws folder to let it recognize your filepath
• everytime you build something new in catkin_ws or modify something in env_vars, remember

source env_vars.sh

2. stay tuned...