AWS RoboMaker Small House World ROS package

AWS Robomaker Small House World on Gzweb

## AWS Robomaker Small House World on Gzweb

Visit the AWS RoboMaker website to learn more about building intelligent robotic applications with Amazon Web Services.

Include the world from another package

• Update .rosinstall to clone this repository and run rosws update

- git: {local-name: src/aws-robomaker-small-house-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-house-world.git', version: master}

• Add the following to your launch file:

<launch>
  <!-- Launch World -->
  <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch"/>
  ...
</launch>

Load directly into Gazebo (without ROS)

export GAZEBO_MODEL_PATH=`pwd`/models
gazebo worlds/small_house.world

Example: Running this world on Gazebo headless and running the UI on Gzweb

Tested in ROS Kinetic/Melodic, Gazebo 7/9 with node version 8.11.3/10.22.1

To open this world in Gzweb, There are two steps,

1. In a terminal, change to your ROS workspace root folder and run gzserver with the small warehouse world:

cd aws-robomaker-small-house-world
export GAZEBO_MODEL_PATH=`pwd`/models
gzserver worlds/small_house.world --verbose

2. In another terminal, setup and run GzWeb

• Install GzWeb by following the official documentation:

  Important:

  • The recommended NodeJS versions are 4 up to version 8.
  • Watch out for conflicting installations of Node/NodeJS
  • See Troubleshooting section for other issues

• Deploy GzWeb

  • export Gazebo model path and run the deploy script with -m local

  cd aws-robomaker-small-house-world
  export GAZEBO_MODEL_PATH=`pwd`/models
  cd ~/gzweb
  export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine
  npm run deploy --- -m local
  npm start

Note: For Portrait Images put the required images mentioned in each visual.DAE file to each materials/textures folder because gzweb could only use the assets mentioned in gzweb/http/client/assets folder for each model.

ROS Launch with Gazebo viewer (without a robot)

# build for ROS
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS
source install/setup.sh
roslaunch aws_robomaker_small_house_world view_small_house.launch

Building

Include this as a .rosinstall dependency in your SampleApplication simulation workspace. colcon build will build this repository.

To build it outside an application, note there is no robot workspace. It is a simulation workspace only.

$ rosws update
$ rosdep install --from-paths . --ignore-src -r -y
$ colcon build

Robot Simulation - Initial Position

Do not use (0,0,0) for the initial position as it will collide with the lounge chairs. Instead, a resonable position is (3.5,1.0,0.0).

How to Replace Photos in Picture Frames

Picture frames use two textures for the model:

• aws_portraitA_01.png - Frame texture
• aws_portraitA_02.png - Picture texture

To change a picture, one has to replace the aws_portraitA_02.png file. The new image will look best with same aspect ratio as the replaced image.

Below is a table showing portrait type to picture resolution data and custom images from photos/.

Portrait Model	Resolution	Photo
DeskPortraitA_01	650x1024
DeskPortraitA_02	650x1024	doug
DeskPortraitB_01	650x1024
DeskPortraitB_02	650x1024
DeskPortraitC_01	1024x1024
DeskPortraitC_02	1024x1024
DeskPortraitD_01	1024x1024
DeskPortraitD_02	1024x1024
DeskPortraitD_03	1024x1024
DeskPortraitD_04	1024x1024	ray
PortraitA_01	700x1024	tim
PortraitA_02	700x1024	anamika
PortraitB_01	700x1024	renato
PortraitB_02	700x1024	brandon
PortraitB_03	700x1024	miaofei
PortraitC_01	650x1024	sean
PortraitD_01	1024x450
PortraitD_02	1024x450
PortraitE_01	700x1024	maggie
PortraitE_02	700x1024	iftach

Disclaimer

All objects in the scene should be static objects as intended for this sample app. If there is a need for some of objects to be non-static, change their 'static' flag in the world file to 'false', and make sure they have correct mass and inertia values in their model.sdf Link: http://gazebosim.org/tutorials?tut=inertia&cat=build_robot

Currently, objects in scene have inconsistent mass and inertia values, they will be fixed in the future change. Inconsistent mass and inertia should not affect static object simulation.