这篇博客详细介绍了如何利用gym-gazebo为turtlebot创建一个新的物理环境。作者通过3个步骤，包括用gazebo建立ROOM场景、添加环境变量以及编写launch文件，来实现turtlebot在自定义场景中的运行。在过程中，作者对比并调整了circuit2.world模型的参数，以解决turtlebot几乎不动的问题。
本博文系列将记录本人理解gym-gazebo的过程。最终目标是添加自己建的环境，并使用gym来在此环境中进行强化学习的研究。
本章将研究怎么新建一个物理环境，并在此环境中加载gym-gazebo中定义好的turtlebot机器人。
我们知道，运行ros需要roslaunch一个launch文件，举一个例子，我们想要运行turtlebot在circuit2.world这个环境中，那么需要到assets中的launch文件夹中，运行
roslaunch ~/gym-gazebo/gym_gazebo/envs/assets/launch/GazeboCircuit2cTurtlebotLidar_v0.launch因此，想要创建一个新的环境，在使用当机器人tuetlebot不变的情况下，只需要修改turtlebot所在的.world文件以及launch文件。
本章的过程共分为3步
1 使用gazebo建立ROOM场景
2 将该场景文件地址添加到环境变量
3 编写launch该场景的launch文件
使用gazebo建立ROOM场景
world文件代码以及场景图如下所示
<sdf version='1.4'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>0</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='room'>
<pose frame=''>1.2563 2.23891 0 0 -0 0</pose>
<link name='Wall_0'>
<collision name='Wall_0_Collision'>
<geometry>
<box>
<size>6.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_0_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>6.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0 -3.425 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_1'>
<pose frame=''>3.175 0 0 0 -0 1.5708</pose>
<visual name='Wall_1_Visual_0'>
<pose frame=''>-2.56946 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.86109 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<collision name='Wall_1_Collision_0'>
<geometry>
<box>
<size>1.86109 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>-2.56946 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_1'>
<pose frame=''>0.930543 0 0.5 0 -0 0</pose>
<geometry>
<box>
<size>5.13891 0.15 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<collision name='Wall_1_Collision_1'>
<geometry>
<box>
<size>5.13891 0.15 1</size>
</box>
</geometry>
<pose frame=''>0.930543 0 0.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_2'>
<pose frame=''>0.261087 0 1.75 0 -0 0</pose>
<geometry>
<box>
<size>2.2 0.15 1.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<collision name='Wall_1_Collision_2'>
<geometry>
<box>
<size>2.2 0.15 1.5</size>
</box>
</geometry>
<pose frame=''>0.261087 0 1.75 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_3'>
<pose frame=''>2.83054 0 1.75 0 -0 0</pose>
<geometry>
<box>
<size>1.33891 0.15 1.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<collision name='Wall_1_Collision_3'>
<geometry>
<box>
<size>1.33891 0.15 1.5</size>
</box>
</geometry>
<pose frame=''>2.83054 0 1.75 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_4'>
<pose frame=''>-1.23891 0 2.15 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 0.7</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<collision name='Wall_1_Collision_4'>
<geometry>
<box>
<size>0.8 0.15 0.7</size>
</box>
</geometry>
<pose frame=''>-1.23891 0 2.15 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_5'>
<pose frame=''>1.76109 0 2.15 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 0.7</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<collision name='Wall_1_Collision_5'>
<geometry>
<box>
<size>0.8 0.15 0.7</size>
</box>
</geometry>
<pose frame=''>1.76109 0 2.15 0 -0 0</pose>
<max_contacts>10</max_contacts>
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