ros: kinetic
gazebo : 7.13
python 3.6
１.创建python3.6环境，这里我使用的是用Anaconda创建虚拟环境
conda create -n gymgazebo（环境名称） python=3.6（python版本）
2.安装Opencv3
方法1: 直接通过conda安装
conda install -c https://conda.binstar.org/menpo opencv
方法2: 源码安装，参考下列链接
http://cyaninfinite.com/tutorials/installing-opencv-in-ubuntu-for-python-3/
３. 安装openai gym
方法1:参考我上一篇博客
mujoco、mujoco_py、gym 和 baselines的环境配置
方法2: 参考github上作者ReadMe
https://github.com/openai/gym
4.安装gym-gazebo
按照教程安装 https://github.com/erlerobot/gym-gazebo/blob/master/INSTALL.md#ubuntu-1604
以下为可能出现的问题：
问题1:
msg问题
解决:
打开 gazebo.repos文件 ,在里面添加如下代码
ar_track_alvar:
type: git
url: https://github.com/ros-perception/ar_track_alvar.git
version: kinetic-devel
mav_comm:
type: git
url: https://github.com/ethz-asl/mav_comm.git
version: master
问题2:
WARNING: Metapackage "ecl_lite" must buildtool_depend on catkin.
WARNING: Metapackage "ecl_lite" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
WARNING: Metapackage "ecl_core" must buildtool_depend on catkin.
WARNING: Metapackage "ecl_core" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
Multiple packages found with the same name "ecl_mobile_robot":
- ecl_core/ecl_mobile_robot
- ecl_navigation/ecl_mobile_robot
解决：https://blog.csdn.net/qq_20989743/article/details/79936639
问题3
/home/hansry/append/anaconda2/envs/gymgazebo/lib/libQt5Test.so.5: undefined reference to
`QCoreApplication::arguments()@Qt_5'
解决
$ cd /home/hansry/append/anaconda2/envs/gymgazebo/lib/
$ cp libQt5Test.so.5 ~/.
$ sudo rm libQt5Test.so.5
$ sudo ln -s /usr/lib/x86_64-linux-gnu/libQt5Test.so.5 /home/hansry/append/anaconda2/envs/gymgazebo/lib//lib/libQt5Test.so.5
(创建软链接，可以跨磁盘，硬链接则不可以)
问题４
error: #error This file was generated by a newer version of protoc which is
error This file was generated by a newer version of protoc which
解决：
由于gazebo是在protocol buffer2.6.1进行编译的，所以当选择较高版本的protoc时，可能就会编译失败，以上报错就是选择了
protocol3.1的时候出现的报错。但是又不能直接安装protoc2.6.1 那么轻松，因为protoc2.6.1只依赖于python2.7,但是对于使用
python3.6的就gg了，然而惊奇的发现在protoc3.5.2下，gazebo的代码成功编译了。
conda install protobuf=3.5.2
问题5
python2和python3 不兼容的问题
解决
2to3 -w /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/control_toolbox/cfg/Parameters.cfg
2to3 -w /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model
2to3 -w /home/zhw/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/gazebo_interface.py