Hi!

I'm trying to launch the turtlebot2 example Here, with the branch "tutorials" on the openai_examples_projects bitbucket. I'm running Gazebo 7 and kinetic, and I've downloaded all required packages (including gym==0.8.0), but it doesn't seem to work. I have already asked this question at ROS answers, but I was directed here instead.

Launching "roslaunch turtle2_openai_ros_example start_training.launch" gives no errors, but the process stops when waiting for service "/gazebo/set_physics_properties". Nothing happens until I kill it with ctrl+c. I have really been trying to figure this out, and I appreciate any help you can give.. Logs are

$ roslaunch turtle2_openai_ros_example start_training.launch
... logging to /home/myuser/.ros/log/21619d40-5e0b-11e9-bb0d-0028f88c60c7/roslaunch-myuser-24873.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://myuser:43881/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /turtlebot2/alpha: 0.1
 * /turtlebot2/angular_speed: 0.3
 * /turtlebot2/desired_pose/x: 5.0
 * /turtlebot2/desired_pose/y: 0.0
 * /turtlebot2/desired_pose/z: 0.0
 * /turtlebot2/end_episode_points: 200
 * /turtlebot2/epsilon: 0.9
 * /turtlebot2/epsilon_discount: 0.999
 * /turtlebot2/forwards_reward: 5
 * /turtlebot2/gamma: 0.7
 * /turtlebot2/init_linear_forward_speed: 0.0
 * /turtlebot2/init_linear_turn_speed: 0.0
 * /turtlebot2/linear_forward_speed: 0.5
 * /turtlebot2/linear_turn_speed: 0.05
 * /turtlebot2/max_laser_value: 6
 * /turtlebot2/min_laser_value: 0
 * /turtlebot2/min_range: 0.5
 * /turtlebot2/n_actions: 4
 * /turtlebot2/n_observations: 6
 * /turtlebot2/nepisodes: 500
 * /turtlebot2/new_ranges: 5
 * /turtlebot2/nsteps: 10000
 * /turtlebot2/number_splits: 10
 * /turtlebot2/pos_step: 0.016
 * /turtlebot2/running_step: 0.06
 * /turtlebot2/speed_step: 1.0
 * /turtlebot2/turn_reward: 1
 * /turtlebot2/wait_time: 0.1

NODES
  /
    turtlebot2_maze (turtle2_openai_ros_example/start_qlearning.py)

auto-starting new master
process[master]: started with pid [24883]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 21619d40-5e0b-11e9-bb0d-0028f88c60c7
process[rosout-1]: started with pid [24896]
started core service [/rosout]
process[turtlebot2_maze-2]: started with pid [24913]
^C[turtlebot2_maze-2] killing on exit
Traceback (most recent call last):
  File "/home/myuser/catkin_ws/src/openai_examples_projects/turtle2_openai_ros_example/scripts/start_qlearning.py", line 26, in <module>
    env = gym.make('TurtleBot2Maze-v0')
  File "/home/myuser/.local/lib/python2.7/site-packages/gym/envs/registration.py", line 161, in make
    return registry.make(id)
  File "/home/myuser/.local/lib/python2.7/site-packages/gym/envs/registration.py", line 119, in make
    env = spec.make()
  File "/home/myuser/.local/lib/python2.7/site-packages/gym/envs/registration.py", line 86, in make
    env = cls(**self._kwargs)
  File "/home/myuser/catkin_ws/src/openai_ros/openai_ros/src/openai_ros/task_envs/turtlebot2/turtlebot2_maze.py", line 63, in __init__
    super(TurtleBot2MazeEnv, self).__init__()
  File "/home/myuser/catkin_ws/src/openai_ros/openai_ros/src/openai_ros/robot_envs/turtlebot2_env.py", line 61, in __init__
    reset_world_or_sim="WORLD")
  File "/home/myuser/catkin_ws/src/openai_ros/openai_ros/src/openai_ros/robot_gazebo_env.py", line 16, in __init__
    self.gazebo = GazeboConnection(start_init_physics_parameters,reset_world_or_sim)
  File "/home/myuser/catkin_ws/src/openai_ros/openai_ros/src/openai_ros/gazebo_connection.py", line 23, in __init__
    rospy.wait_for_service(service_name)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
    raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

asked 14 Apr, 20:17

ingvild.ulstein's gravatar image

ingvild.ulstein
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accept rate: 0%

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question asked: 14 Apr, 20:17

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last updated: 14 Apr, 20:17

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