{"action":"opened","issue":{"url":"https://api.github.com/repos/erlerobot/gym-gazebo/issues/181","repository_url":"https://api.github.com/repos/erlerobot/gym-gazebo","labels_url":"https://api.github.com/repos/erlerobot/gym-gazebo/issues/181/labels{/name}","comments_url":"https://api.github.com/repos/erlerobot/gym-gazebo/issues/181/comments","events_url":"https://api.github.com/repos/erlerobot/gym-gazebo/issues/181/events","html_url":"https://github.com/erlerobot/gym-gazebo/issues/181","id":378233765,"node_id":"MDU6SXNzdWUzNzgyMzM3NjU=","number":181,"title":"Turtlebot spins on the spot","user":{"login":"pulver22","id":6864853,"node_id":"MDQ6VXNlcjY4NjQ4NTM=","avatar_url":"https://avatars0.githubusercontent.com/u/6864853?v=4","gravatar_id":"","url":"https://api.github.com/users/pulver22","html_url":"https://github.com/pulver22","followers_url":"https://api.github.com/users/pulver22/followers","following_url":"https://api.github.com/users/pulver22/following{/other_user}","gists_url":"https://api.github.com/users/pulver22/gists{/gist_id}","starred_url":"https://api.github.com/users/pulver22/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pulver22/subscriptions","organizations_url":"https://api.github.com/users/pulver22/orgs","repos_url":"https://api.github.com/users/pulver22/repos","events_url":"https://api.github.com/users/pulver22/events{/privacy}","received_events_url":"https://api.github.com/users/pulver22/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-11-07T10:43:33Z","updated_at":"2018-11-07T10:43:33Z","closed_at":null,"author_association":"NONE","body":"Hello, \r\n\r\nI am trying to run the examples, in particular both the `circuit_turtlebot_lidar_qlearn.py` and the `circuit2_turtlebot_lidar_qleanr.py`. \r\n\r\nThe behaviour I see is the same reported [here](https://github.com/erlerobot/gym-gazebo/issues/49#issuecomment-349249929). Basically, the simulation continuously stops and resumes (possibly for allowing taking the observation and then send an action) and the robots mainly rotates on the spot really slowly. Listening to the velocity topic I noticed the messages go through (linear velocity on x and also angular on z).\r\n\r\nI also noticed the real time factor of gazebo is around 55 meaning the simulation is not real time (good idea for speeding up but I cannot explain why the robot moves so slowly).\r\n\r\nAnother point I noticed is that, after an episode starts and the reset() method is called, the robot is respawn always in the same position.\r\n\r\nI run the simulation for 15 hours and I didn't see any learning at all. Is all this expected? What is the robot supposed to do/learn?"}}
{"actor":{"display_login":"pulver22"}}