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Author: Nestor Gonzalez via ros-users
To: ros-users
CC: Nestor Gonzalez
Subject: [ros-users] [Discourse.ros.org] [ROS Projects] gym-gazebo migration to ROS2 with MARA

Dear ROS Community,

I am going to start the task of migrating gym-gazebo to ROS2, give it a new structure and test it with the [MARA](https://acutronicrobotics.com/docs/products/mara/simulation).

In case you don't know about gym-gazebo, it is basically a toolkit for developing and comparing reinforcement learning algorithms using ROS and Gazebo. A few robots have been successfully tested in this environment, but the community has focused particularly in the Turtlebot. A couple example videos of this robot: [qlearn-sarsa](https://www.youtube.com/watch?v=8hxCBkgp95k), [running an already trained nn](https://www.youtube.com/watch?v=WRePKygK5p0). I invite you to also take a look at the [github repo](https://github.com/erlerobot/gym-gazebo).

Everything here is ROS1 based and the general structure is not very convenient. The goal is to migrate to ROS2 and use the under development ros2 version of the [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ros2). Once this is completed, installation and usage tutorials will be created for the community.

Please feel free to share your thoughts, specially if you are familiar with the ros2 gazebo_ros_pkgs branch. Take a look at the [discussion issue](https://github.com/erlerobot/gym-gazebo/issues/192) for a more technical debate and share your interest if you want to get involved in the project!

[Visit Topic](https://discourse.ros.org/t/gym-gazebo-migration-to-ros2-with-mara/7119/1) or reply to this email to respond.

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