gym-gazebo is an OpenAI Gym extension for Gazebo. This extension makes use of an ROS-Gazebo combination to train robots with reinforcement learning algorithms. In the previous chapters, we saw how ROS and Gazebo can be used to solve robotics applications or proof of concepts in simulations that, to an extent, emulate reality. This extension helps us to use this combination in controlling such robots in simulation. A simplified block diagram representation of gym-gazebo is shown as follows:
gym-gazebo architecture
This is the underlying architecture of gym-gazebo. It consists of three main blocks—out of these, we already know Gazebo ...
