Install gym-gazebo, robotis-op3 on ubuntu 20.04 (gym-gazebo not built)

ubuntu20-ros-noetic-gym-gazebo-robotis-op3

#!/bin/sh

# Install ros-noetic-desktop-full from apt repository
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update

sudo apt install -y ros-noetic-desktop-full
sudo apt install -y vim
sudo apt install -y libncurses5-dev v4l-utils
sudo apt install -y madplay mpg321
sudo apt install -y g++ git

source /opt/ros/noetic/setup.bash

# Install ROBOTIS-OP3
mkdir ~/catkin_ws
cd ~/catkin_ws
mkdir src
cd src

# git clone https://github.com/ROBOTIS-GIT/face_detection.git
# git clone https://github.com/bosch-ros-pkg/usb_cam.git
# git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git

sudo apt-get install -y ros-noetic-map-server
sudo apt-get install -y ros-noetic-humanoid-nav-msgs
sudo apt-get install -y ros-noetic-nav-msgs
sudo apt-get install -y ros-noetic-octomap
sudo apt-get install -y ros-noetic-octomap-msgs
sudo apt-get install -y ros-noetic-octomap-ros
sudo apt-get install -y ros-noetic-octomap-server
sudo apt-get install -y ros-noetic-rosbridge-server
sudo apt-get install -y ros-noetic-effort-controllers

# Install sbpl (for ROBOTIS-OP3)
mkdir ~/libs
cd ~/libs
git clone https://github.com/sbpl/sbpl
cd sbpl
mkdir build
cd build
cmake ..
make
sudo make install

cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3.git
# git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-msgs.git
# git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common.git
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Utility.git
git clone https://github.com/ahornung/humanoid_msgs

# # Install dependencies for building OpenCV-3.4.0
# sudo apt install -y build-essential cmake git pkg-config libgtk-3-dev \
#     libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
#     libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
#     gfortran openexr libatlas-base-dev python3-dev python3-numpy \
#     libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
#     libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
# sudo apt-get install -y v4l-utils libxine2-dev
# sudo apt-get install -y mesa-utils libgl1-mesa-dri libgtkgl2.0-dev libgtkglext1-dev
# sudo apt-get install -y libeigen3-dev python2.7-dev python-numpy

# # Prepare build environments for OpenCV-3.4.0 and build
# cd ~/libs
# mkdir opencv3; cd opencv3
# wget -O opencv.zip https://github.com/opencv/opencv/archive/3.4.0.zip
# wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/3.4.0.zip
# unzip opencv.zip
# unzip opencv_contrib.zip
# cd opencv-3.4.0
# # Resolve 
# sed -i "s/char* str = PyString_AsString(obj);/const char* str = PyString_AsString(obj);/g" modules/python/src2/cv2.cpp
# mkdir build
# cd build
# cmake -D CMAKE_BUILD_TYPE=RELEASE \
#     -D CMAKE_INSTALL_PREFIX=/usr/local \
#     -D INSTALL_C_EXAMPLES=ON \
#     -D INSTALL_PYTHON_EXAMPLES=ON \
#     -D OPENCV_GENERATE_PKGCONFIG=ON \
#     -D OPENCV_EXTRA_MODULES_PATH=~/libs/opencv3/opencv_contrib-3.4.0/modules \
#     -D BUILD_EXAMPLES=ON ..
# make -j8
# sudo make install
# sudo sh -c echo '/usr/local/lib/' > sudo /etc/ld.so.conf.d/opencv.conf
# sudo ldconfig

# Fix wrong .launch scripts (xacro.py deprecated)
cd ~/catkin_ws/src/ROBOTIS-OP3-Common/op3_description
sed -i "s/xacro.py/xacro/g" launch/op3_display.launch
sed -i "s/xacro.py/xacro/g" launch/op3_rviz.launch
sed -i "s/xacro.py/xacro/g" launch/op3_walking.launch
cd ../op3_gazebo
sed -i "s/xacro.py/xacro/g" launch/robotis_world.launch

# Build sources with `catkin_make`
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

# Register .bash scripts into ~/.bashrc
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

# Install dependencies from apt repository (for gym-gazebo)
sudo apt-get install -y \
  python3-pip python3-vcstool python3-pyqt5 \
  pyqt5-dev-tools \
  libbluetooth-dev libspnav-dev \
  libcwiid-dev \
  cmake gcc g++ qt5-qmake qtbase5-dev \
  libusb-dev libftdi-dev \
  libsdl-dev \
  libsdl-image1.2-dev \
  python3-defusedxml python3-vcstool \
  ros-noetic-octomap-msgs        \
  ros-noetic-joy                 \
  ros-noetic-geodesy             \
  ros-noetic-octomap-ros         \
  ros-noetic-control-toolbox     \
  ros-noetic-pluginlib	       \
  ros-noetic-trajectory-msgs     \
  ros-noetic-control-msgs	       \
  ros-noetic-std-srvs 	       \
  ros-noetic-nodelet	       \
  ros-noetic-urdf		       \
  ros-noetic-rviz		       \
  ros-noetic-kdl-conversions     \
  ros-noetic-eigen-conversions   \
  ros-noetic-tf2-sensor-msgs     \
  ros-noetic-pcl-ros \
  ros-noetic-navigation \
  ros-noetic-sophus

# Install CUDA
mkdir ~/libs/cuda; cd ~/libs/cuda
wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
wget https://developer.download.nvidia.com/compute/cuda/11.2.0/local_installers/cuda-repo-ubuntu2004-11-2-local_11.2.0-460.27.04-1_amd64.deb
sudo dpkg -i cuda-repo-ubuntu2004-11-2-local_11.2.0-460.27.04-1_amd64.deb
sudo apt-key add /var/cuda-repo-ubuntu2004-11-2-local/7fa2af80.pub
sudo apt-get update
sudo apt-get -y install cuda

# Install cudNN
# wget -O cudnn.tgz https://developer.nvidia.com/compute/machine-learning/cudnn/secure/8.1.0.77/11.2_20210127/cudnn-11.2-linux-x64-v8.1.0.77.tgz
#     Above line doesn't work (Forbidden)
#     Manually download cudnn library from https://developer.nvidia.com/rdp/cudnn-download , and locate .tgz file here
tar -xvf cudnn.tgz
bash -c 'echo "export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:`pwd`/cuda/lib64 >> ~/.bashrc'
source ~/.bashrc

# Install boost library (for gym-gazebo)
mkdir ~/libs/boost; cd ~/libs/boost
wget -O boost.tar.gz https://dl.bintray.com/boostorg/release/1.75.0/source/boost_1_75_0.tar.gz
tar -xvf boost.tar.gz
cd boost_1_75_0
./bootstrap.sh --with-python=/usr/bin/python3
sudo ./b2 install

# Install vtk
sudo apt install -y cmake-curses-gui
cd ~/libs
git clone https://github.com/Kitware/VTK.git
mkdir VTK/build
cd VTK/build
cmake .. 
make -j16
sudo make install

# Install pip dependencies (for gym-gazebo)
pip3 install gym
sudo apt-get install -y python3-skimage
pip3 install h5py
pip3 install tensorflow-gpu
pip3 install keras

# Fetch gym-gazebo from github.com and install
cd ~
git clone https://github.com/erlerobot/gym-gazebo
cd gym-gazebo
pip3 install -e .

cd gym_gazebo/envs/installation
src="catkin_ws/src"
mkdir -p $src
cd $src
catkin_init_workspace

# Import and build dependencies
cd ../../catkin_ws/src/
vcs import < ../../gazebo_ros_melodic.repos

cd ..
touch catkin_ws/src/ecl_navigation/ecl_mobile_robot/CATKIN_IGNORE
sed -i "s/python3/python/g" src/image_common/camera_calibration_parsers/CMakeLists.txt
catkin_make
bash -c 'echo source `pwd`/devel/setup.bash >> ~/.bashrc'
echo "## ROS workspace compiled ##"

# add own models path to gazebo models path
if [ -z "$GAZEBO_MODEL_PATH" ]; then
  bash -c 'echo "export GAZEBO_MODEL_PATH="`pwd`/../../assets/models >> ~/.bashrc'
  exec bash #reload bashrc
fi

can i use neotic version of ROS to my OP3 Framework instead using ROS kinetic?

Hello! I remember that some of packages from OP3 are using OpenCV3, but Ubuntu20.04 had OpenCV4, so there was some package that could not be built on (Ubuntu20.04 + noetic).

So I got rid of some packages that were using OpenCV in this gist.

In my case, I just had to spawn OP3 model in gazebo, and control joints of it, so there was no problem.

means do I have to install ubuntu 18.04 with ROS melodic?

I strongly recommend to use ubuntu 16.04 + kinetic.
In my case, I wanted to use python3 for some reinforcement learning libraries with ros-python.

yes thanks sir, but I also sometimes encounter problems and difficulties when using OpenCV with ROS kinetic because it always clashes with Python2.

yes thanks sir, but I also sometimes encounter problems and difficulties when using OpenCV with ROS kinetic because it always clashes with Python2.

Are you also using gym-gazebo?

Sorry, so do I have to use ros-noetic or ros-kinetic? because your code install ros-noetic(?)