Hands-On ROS for Robotics Programming

How to run the simulations

Before beginning the training process for each scenario, let's recap what we learned in the previous chapter about visualization (RViz) and simulation (Gazebo) to establish a link with the learning process, which will make use of these tools and related scripts:

1. To launch the visualization in RViz, you have to simply execute the following command:

T1 $ roslaunch gopigo3_model gopigo3_rviz.launch

2. To launch the simulation in Gazebo, you may proceed in a similar manner using this single command:

T1 $ roslaunch gopigo3_gazebo gopigo3_world.launch

3. Finally, to run the reinforcement learning task you first have to launch Gazebo – as explained in step 2 – but with the selected training environment, instead of the ...