Hi, I'm trying to use Simulink to apply turtlebot3 to do deep reinforcement learning simulation, the tutorial I'm following is from Robotics Arena DRL for Walking Robots.
% Environment mdl = 'walkingRobotRL2D'; load_system(mdl); blk = [mdl,'/RL Agent']; env = rlSimulinkEnv(mdl,blk,observationInfo,actionInfo);
ANSWER
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Loading a Simulink model that simulates a robot is very different than loading a Gazebo world. There is currently no capability for loading a Gazebo model inside of Simulink and accessing data from it directly.
You can, however, run Gazebo externally and load the model into that. You can then communicate with Gazebo using Gazebo Co-Simulation, ROS, or ROS 2, and feed the data received from that into your reinforcement learning algorithm. Gazebo Co-Simulation will provide a higher level of control over the Gazebo simulation, and may have more consistent performance. It may be easier to get started with ROS or ROS 2, though, since TurtleBot3 is set up to use it already.
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Loading a Simulink model that simulates a robot is very different than loading a Gazebo world. There is currently no capability for loading a Gazebo model inside of Simulink and accessing data from it directly.
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