This demonstrates the structure of a ROS project that works with RoboMaker by creating a robot connecting to AWS Iot Core in an empty world.
This application is modified by Nobuyuki Matsui[email protected]. The original source code is here : aws-robomaker-sample-application-helloworld.
RoboMaker sample applications include third-party software licensed under open-source licenses and is provided for demonstration purposes only. Incorporation or use of RoboMaker sample applications in connection with your production workloads or a commercial products or devices may affect your legal rights or obligations under the applicable open-source licenses. Source code information can be found here.
- ROS Kinetic - Other versions may work, however they have not been tested
- Colcon - Used for building and bundling the application.
sudo apt-get update
rosdep update
cd robot_ws
rosws update
rosdep install --from-paths src --ignore-src -r -y
colcon build
cd simulation_ws
rosws update
rosdep install --from-paths src --ignore-src -r -y
colcon build
Launch the application with the following commands:
-
Running Robot Application on a Robot
source robot_ws/install/local_setup.sh roslaunch hello_world_robot deploy_rotate.launch
-
Running Robot Application Elsewhere
source robot_ws/install/local_setup.sh roslaunch hello_world_robot rotate.launch
-
Running Simulation Application
source simulation_ws/install/local_setup.sh roslaunch hello_world_simulation empty_world.launch
You first need to install colcon-ros-bundle. Python 3.5 or above is required.
pip3 install colcon-ros-bundle
After colcon-ros-bundle is installed you need to build your robot or simulation, then you can bundle with:
# Bundling Robot Application
cd robot_ws
source install/local_setup.sh
colcon bundle
# Bundling Simulation Application
cd simulation_ws
source install/local_setup.sh
colcon bundle
This produces the artifacts robot_ws/build/output.tar.gz
and simulation_ws/build/output.tar.gz
respectively.
You'll need to upload these to an s3 bucket, then you can use these files to
create a robot application,
create a simulation application,
and create a simulation job in RoboMaker.
/rotate
/clock
/cmd_vel
MIT-0 - See LICENSE.txt for further information
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