This sample application demonstrates how to setup navigation in a Gazebo world, and how to subscribe and publish metrics to monitor your robots, including

• linear speed
• angular speed
• distance to nearest obstacle (closest lidar scan return)
• distance to planned goal (bookstore only, requires its navigation system)

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.

The following will be installed

• Colcon - Used for building and bundling the application.
• vcstool - Used to pull in sample app dependencies that are only available from source, not from apt or pip.
• rosdep - rosdep is a command-line tool for installing system dependencies of ROS packages.
• ROS Melodic - Other versions may work, however they have not been tested. If ROS is detected, then ROS Installation will be skipped.

Follow links above for instructions on installing required software.

• Full Setup Including ROS Install currently only melodic is supported, ROS Installation will be skipped if its already present.

# `sudo` is not needed inside a docker environment
sudo ./scripts/setup.sh

cd robot_ws
colcon build

cd simulation_ws
colcon build

The TURTLEBOT3_MODEL environment variable must be set when running both robot and simulation application. Currently only waffle_pi is supported. Set it by

export TURTLEBOT3_MODEL=waffle_pi

Launch the application with the following commands:

• Running Robot Application on a Robot

  source robot_ws/install/local_setup.sh
  roslaunch navigation_robot deploy_rotate.launch

• Running Robot Application in a Simulation

  source robot_ws/install/local_setup.sh
  roslaunch navigation_robot [command]

  There are two robot launch commands:

  • rotate.launch - The robot starts rotating
  • await_commands.launch - The robot is idle waiting movement commands, use this for teleop and navigation

• Running Simulation Application

  source simulation_ws/install/local_setup.sh
  roslaunch navigation_simulation [command]

  There are three simulation launch commands for three different worlds:

  • empty_world.launch - Empty world with some balls surrounding the turtlebot at (0,0)
  • bookstore_turtlebot_navigation.launch - A retail space where the robot navigates to random goals
  • small_house_turtlebot_navigation.launch - A retail space where the robot navigates to random goals

  Alternatively, to run turtlebot navigation to follow dynamic goals,

  roslaunch navigation_simulation [command] follow_route:=false dynamic_route:=true

Note that when running robot applications on a robot, use_sim_time should be set to false (which is the default value in deploy_rotate.launch and deploy_await_commands.launch). When running robot applications along with simulation applications, use_sim_time should be set to true for both applications (which is the default value in rotate.launch, await_commands.launch and all the launch files in simulation workspace).

When running simulation applications, run command with gui:=true to run gazebo client for visualization.

For navigation, you can generate a map with map generation plugin. See this for instructions.

Pre-requisite: Generate a map for your worldforge exported world following these instructions.

Build your workspace to reference the newly generated maps,

cd simulation_ws
colcon build

Launch the navigation application with the following commands:

export TURTLEBOT3_MODEL=waffle_pi
source simulation_ws/install/local_setup.sh
roslaunch navigation_simulation worldforge_turtlebot_navigation.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
colcon build
source install/local_setup.sh
colcon bundle

# Bundling Simulation Application
cd simulation_ws
colcon build
source install/local_setup.sh
colcon bundle

This produces the artifacts robot_ws/bundle/output.tar and simulation_ws/bundle/output.tar 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.

Procedurally generate an occupancy map for any gazebo world. This map can then be plugged in to navigate a robot in Worldforge worlds. For other aws-robotics worlds, this procedure is optional for the use-cases mentioned in this README.

Currently, the following aws-robotics worlds are supported,

• bookstore
• small_house
• small_warehouse
• no_roof_small_warehouse

To generate a map, simply run

./scripts/genmap_script.sh <world_name>

where <world_name> can be any value in the list above.

After exporting a world from WorldForge, unzip and move the contents under simulation_ws workspace

unzip exported_world.zip
mv aws_robomaker_worldforge_pkgs simulation_ws/src/

#For worldforge worlds, set WORLD_ID to the name of your WF exported world (eg: generation_40r67s111n9x_world_3),
export WORLD_ID=<worldforge-world-name>

# Run map generation script
./scripts/genmap_script.sh worldforge

# Install dependencies (Ubuntu >18.04)
sudo apt-get install ruby-dev libxml-xpath-perl libxml2-utils

# Fetch and install ROS dependencies
cd simulation_ws
vcs import < .rosinstall
rosdep install --from-paths src -r -y
cd ..

# Run plugin with custom world/config,
python scripts/add_map_plugin.py custom -c <path-to-config> -w <path-to-world> -o <output-path>

# Build with plugin added
cd simulation_ws
colcon build
source install/local_setup.sh

# Start map service (for custom worlds, relocate your world file with the added plugin to src/navigation_simulation/worlds/map_plugin.world before running this)
roslaunch navigation_simulation start_map_service.launch

# Generate map (start in a different terminal AFTER you see "[INFO] [*] occupancy map plugin started" message in previous terminal)
rosservice call /gazebo_2Dmap_plugin/generate_map

# Save map
rosrun map_server map_saver -f <path-to-file> /map:=/map2d

# Move the generated map file to navigation_simulation simulation workspace map directory
mv <path-to-file> simulation_ws/src/navigation_simulation/maps/map.yaml

See CONTRIBUTING for more information.

This library is licensed under the MIT-0 License. See the LICENSE file.