Ubantu搭建深度学习和强化学习环境

前言：配置组合。

硬件配置：NVIDIA 1050Ti显卡（3g显存）。
合理组合：Ubantu 18.04 + 显卡驱动 418 + tensorflow-gpu 1.13.1 + Keras 2.3.1+ cuda 10.0 + cudnn 7.6.5 + python 3.6 + ROS melodic + gazebo 9.0。

1. 安装Ubantu 18.04

2. 安装Anaconda

download anaconda from https://mirrors.tuna.tsinghua.edu.cn/help/anaconda/

bash Anaconda3-5.2.0-Linux-x86_64.sh

sudo gedit ~/.bashrc

注册表中加入：

export PATH=~/anaconda3/bin:$PATH

source ~/.bashrc

3. 创建conda环境

此处需要创建环境并激活（除了显卡驱动之外所有的依赖项全都安装在这个环境下，当然你可以创建很多个环境）

conda create -n tf1 python=3.6

激活环境

conda activate tf1

4. 安装tensorflow 和 keras

pip install tensorflow-gpu==1.14.0 -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install keras==2.3.1 -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install opencv-python==3.4.3.18

Keras在tensorflow2后作为子模块被调用

pip install tensorflow-gpu==2.1.0 -i https://pypi.tuna.tsinghua.edu.cn/simple

5. 安装cuda和cudnn

conda install cudatoolkit=10.0 -c https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/linux-64/
conda install cudnn=7.6.5 -c https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/linux-64/

6. 安装pycharm

sudo snap install [pycharm-community] --classic

7. 安装ROS melodic

配置 Ubuntu 软件仓库

添加ROS源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

设置密钥

sudo apt install curl
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add --

安装 ROS

sudo apt update
sudo apt install ros-melodic-desktop-full

配置环境

echo "source /opt/ros/melodic/setup.bash" >>~/.bashrc
source ~/.bashrc

安装构建包所需依赖

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

初始化 rosdep

sudo rosdep init

更新本地 rosdep 数据库

rosdep update

添加环境变量

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

安装ROS Melodic相关的依赖

sudo apt-get install \
python-pip python3-vcstool python3-pyqt4 \
pyqt5-dev-tools \
libbluetooth-dev libspnav-dev \
pyqt4-dev-tools libcwiid-dev \
cmake gcc g++ qt4-qmake libqt4-dev \
libusb-dev libftdi-dev \
python3-defusedxml python3-vcstool \
ros-melodic-octomap-msgs \
ros-melodic-joy \
ros-melodic-geodesy \
ros-melodic-octomap-ros \
ros-melodic-control-toolbox \
ros-melodic-pluginlib \
ros-melodic-trajectory-msgs \
ros-melodic-control-msgs \
ros-melodic-std-srvs \
ros-melodic-nodelet \
ros-melodic-urdf \
ros-melodic-rviz \
ros-melodic-kdl-conversions \
ros-melodic-eigen-conversions \
ros-melodic-tf2-sensor-msgs \
ros-melodic-pcl-ros \
ros-melodic-navigation \
ros-melodic-sophus

安装gazebo库

cd ~/.gazebo/
mkdir -p models
cd ~/.gazebo/models/
wget http://file.ncnynl.com/ros/gazebo_models.txt
wget -i gazebo_models.txt
ls model.tar.g* | xargs -n1 tar xzvf

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

安装controller库

sudo apt-get install ros-melodic-joint-state-controller
sudo apt-get install ros-melodic-effort-controllers
sudo apt-get install ros-melodic-position-controllers
sudo apt-get install ros-melodic-ros-control
sudo apt-get install ros-melodic-gazebo-ros-pkgs
sudo apt-get install ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-joint-trajectory-controller

安装rqt_multiplot

sudo apt-get install ros-melodic-rqt
sudo apt-get install libqet-dev
sudo apt-get install ros-melodic-rqt-multiplot

7. 安装gym

sudo pip install gym

pip install scikit-image
pip install opencv-python
sudo apt-get install python-skimage
sudo pip install h5py
sudo pip install keras

8. 安装gym-gazebo

安装gym-gazebo

cd ~
git clone https://github.com/erlerobot/gym-gazebo
cd gym-gazebo
sudo pip install -e .

运行 bash 文件，构建 ros 工作区：

cd gym-gazebo/gym_gazebo/envs/installation
bash setup_melodic.bash

8. openai_ROS

git clone https://bitbucket.org/theconstructcore/openai_examples_projects.git
git clone https://bitbucket.org/theconstructcore/openai_ros.git

9. 踩坑参考

gazebo报错

Reference：

ROS 1 安装——从手动到自动：以 Ubuntu 18.04 + ROS Melodic 为例
ROS Melodic安装配置OpenAI
Ubuntu install of ROS Melodic
openai_ros wiki
openai_ros教程 (The constuct)
porterpan/gym-gazebo (github)