git commit -m "first commit"
This commit is contained in:
13
simulators/aws-robomaker-small-warehouse-world_h/CMakeLists.txt
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simulators/aws-robomaker-small-warehouse-world_h/CMakeLists.txt
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|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(aws_robomaker_small_warehouse_world)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
gazebo_ros
|
||||
)
|
||||
|
||||
catkin_package()
|
||||
|
||||
install(DIRECTORY launch models worlds maps rviz
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
)
|
||||
|
||||
4
simulators/aws-robomaker-small-warehouse-world_h/CODE_OF_CONDUCT.md
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simulators/aws-robomaker-small-warehouse-world_h/CODE_OF_CONDUCT.md
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|
||||
## Code of Conduct
|
||||
This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct).
|
||||
For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact
|
||||
opensource-codeofconduct@amazon.com with any additional questions or comments.
|
||||
61
simulators/aws-robomaker-small-warehouse-world_h/CONTRIBUTING.md
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simulators/aws-robomaker-small-warehouse-world_h/CONTRIBUTING.md
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|
||||
# Contributing Guidelines
|
||||
|
||||
Thank you for your interest in contributing to our project. Whether it's a bug report, new feature, correction, or additional
|
||||
documentation, we greatly value feedback and contributions from our community.
|
||||
|
||||
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary
|
||||
information to effectively respond to your bug report or contribution.
|
||||
|
||||
|
||||
## Reporting Bugs/Feature Requests
|
||||
|
||||
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
|
||||
|
||||
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn't already
|
||||
reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
|
||||
|
||||
* A reproducible test case or series of steps
|
||||
* The version of our code being used
|
||||
* Any modifications you've made relevant to the bug
|
||||
* Anything unusual about your environment or deployment
|
||||
|
||||
|
||||
## Contributing via Pull Requests
|
||||
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
|
||||
|
||||
1. You are working against the latest source on the *master* branch.
|
||||
2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
|
||||
3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
|
||||
|
||||
To send us a pull request, please:
|
||||
|
||||
1. Fork the repository.
|
||||
2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
|
||||
3. Ensure local tests pass.
|
||||
4. Commit to your fork using clear commit messages.
|
||||
5. Send us a pull request, answering any default questions in the pull request interface.
|
||||
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
|
||||
|
||||
GitHub provides additional document on [forking a repository](https://help.github.com/articles/fork-a-repo/) and
|
||||
[creating a pull request](https://help.github.com/articles/creating-a-pull-request/).
|
||||
|
||||
|
||||
## Finding contributions to work on
|
||||
Looking at the existing issues is a great way to find something to contribute on. As our projects, by default, use the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any 'help wanted' issues is a great place to start.
|
||||
|
||||
|
||||
## Code of Conduct
|
||||
This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct).
|
||||
For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact
|
||||
opensource-codeofconduct@amazon.com with any additional questions or comments.
|
||||
|
||||
|
||||
## Security issue notifications
|
||||
If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security via our [vulnerability reporting page](http://aws.amazon.com/security/vulnerability-reporting/). Please do **not** create a public github issue.
|
||||
|
||||
|
||||
## Licensing
|
||||
|
||||
See the [LICENSE](LICENSE) file for our project's licensing. We will ask you to confirm the licensing of your contribution.
|
||||
|
||||
We may ask you to sign a [Contributor License Agreement (CLA)](http://en.wikipedia.org/wiki/Contributor_License_Agreement) for larger changes.
|
||||
15
simulators/aws-robomaker-small-warehouse-world_h/LICENSE
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simulators/aws-robomaker-small-warehouse-world_h/LICENSE
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@@ -0,0 +1,15 @@
|
||||
Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
this software and associated documentation files (the "Software"), to deal in
|
||||
the Software without restriction, including without limitation the rights to
|
||||
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
the Software, and to permit persons to whom the Software is furnished to do so.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
|
||||
118
simulators/aws-robomaker-small-warehouse-world_h/README.md
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simulators/aws-robomaker-small-warehouse-world_h/README.md
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|
||||
# AWS RoboMaker Small Warehouse World
|
||||
|
||||
|
||||
|
||||
## AWS Robomaker Small Warehouse World on Gzweb
|
||||
|
||||
|
||||
|
||||
This Gazebo world is well suited for organizations who are building and testing robot applications for warehouse and logistics use cases.
|
||||
|
||||
## 3D Models included in this Gazebo World
|
||||
|
||||
| Model (/models) | Picture |
|
||||
| :------------- |:-------------:|
|
||||
| **aws_robomaker_warehouse_Bucket_01** | 
|
||||
| **aws_robomaker_warehouse_ClutteringA_01, aws_robomaker_warehouse_ClutteringC_01, aws_robomaker_warehouse_ClutteringD_01** |  |
|
||||
| **aws_robomaker_warehouse_DeskC_01** | 
|
||||
| **aws_robomaker_warehouse_GroundB_01** | 
|
||||
| **aws_robomaker_warehouse_TrashCanC_01** | 
|
||||
| **aws_robomaker_warehouse_Lamp_01** | 
|
||||
| **aws_robomaker_warehouse_PalletJackB_01** | 
|
||||
| **aws_robomaker_warehouse_ShelfD_01, aws_robomaker_warehouse_ShelfE_01, aws_robomaker_warehouse_ShelfF_01** | 
|
||||
|
||||
## Building and Launching the Gazebo World with your ROS Applications
|
||||
|
||||
* Create or update a **.rosinstall** file in the root directory of your ROS workspace. Add the following line to **.rosintall**:
|
||||
```
|
||||
- git: {local-name: src/aws-robomaker-small-warehouse-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git', version: master}
|
||||
```
|
||||
* Change the directory to your ROS workspace and run `rosws update`
|
||||
|
||||
* Add the following include to the ROS launch file you are using:
|
||||
```xml
|
||||
<launch>
|
||||
<!-- Launch World -->
|
||||
<include file="$(find aws_robomaker_small_warehouse_world)/launch/small_warehouse.launch"/>
|
||||
...
|
||||
</launch>
|
||||
```
|
||||
|
||||
* Build your application using `colcon`
|
||||
```bash
|
||||
rosws update
|
||||
rosdep install --from-paths . --ignore-src -r -y
|
||||
colcon build
|
||||
```
|
||||
|
||||
## Example: Running this world directly in Gazebo without a ROS application
|
||||
|
||||
To open this world in Gazebo, change the directory to your ROS workspace root folder and run:
|
||||
|
||||
```bash
|
||||
cd aws-robomaker-small-warehouse-world
|
||||
export GAZEBO_MODEL_PATH=`pwd`/models
|
||||
gazebo worlds/small_warehouse.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:
|
||||
|
||||
```bash
|
||||
cd aws-robomaker-small-warehouse-world
|
||||
export GAZEBO_MODEL_PATH=`pwd`/models
|
||||
gzserver worlds/small_warehouse.world
|
||||
```
|
||||
|
||||
2) In another terminal, setup and run GzWeb
|
||||
- Install GzWeb by following the [official documentation](http://gazebosim.org/gzweb#install-collapse-1):
|
||||
|
||||
**Important**:
|
||||
* The recommended NodeJS versions are 4 up to version 8.
|
||||
* Watch out for [conflicting installations of Node/NodeJS](https://askubuntu.com/questions/695155/node-nodejs-have-different-version)
|
||||
* See [Troubleshooting section](http://gazebosim.org/gzweb#install-collapse-3) for other issues
|
||||
|
||||
- Deploy GzWeb
|
||||
- Approach 1: Copy all the Gazebo models from small-warehouse world to gzweb/http/client/assets/, and run the deploy script
|
||||
|
||||
```bash
|
||||
cp -r ~/aws-robomaker-small-warehouse-world/models/. ~/gzweb/http/client/assets
|
||||
cd ~/gzweb
|
||||
export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine
|
||||
npm run deploy
|
||||
npm start
|
||||
```
|
||||
|
||||
- Approach 2: without copying the Gazebo models, export Gazebo model path and run the deploy script with `-m local`
|
||||
|
||||
```bash
|
||||
cd aws-robomaker-small-warehouse-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
|
||||
```
|
||||
|
||||
## Example: Running this world directly using ROS without a simulated robot
|
||||
|
||||
To launch this base Gazebo world without a robot, clone this repository and run the following commands. **Note: ROS and gazebo must already be installed on the host.**
|
||||
|
||||
```bash
|
||||
# build for ROS
|
||||
rosdep install --from-paths . --ignore-src -r -y
|
||||
colcon build
|
||||
|
||||
# run in ROS
|
||||
source install/setup.sh
|
||||
roslaunch aws_robomaker_small_warehouse_world view_small_warehouse.launch
|
||||
```
|
||||
**Visit the [AWS RoboMaker website](https://aws.amazon.com/robomaker/) to learn more about building intelligent robotic applications with Amazon Web Services.**
|
||||
|
||||
## Notes
|
||||
- Lighting might vary on different system(s) (e.g brighter on system without CPU and darker on system with GPU)
|
||||
- Adjust lighting parameters in .world file as you need
|
||||
BIN
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|
||||
<launch>
|
||||
<!-- Always set GUI to false for AWS RoboMaker Simulation
|
||||
Use gui:=true on roslaunch command-line to run with a gui.
|
||||
-->
|
||||
<arg name="gui" default="false"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find aws_robomaker_small_warehouse_world)/worlds/no_roof_small_warehouse.world"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="use_sim_time" default="true"/>
|
||||
<arg name="gui" default="$(arg gui)"/>
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
</include>
|
||||
</launch>
|
||||
@@ -0,0 +1,16 @@
|
||||
<launch>
|
||||
<!-- Always set GUI to false for AWS RoboMaker Simulation
|
||||
Use gui:=true on roslaunch command-line to run with a gui.
|
||||
-->
|
||||
<arg name="gui" default="false"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find aws_robomaker_small_warehouse_world)/worlds/small_warehouse.world"/>
|
||||
<arg name="paused" default="false"/>
|
||||
<arg name="use_sim_time" default="true"/>
|
||||
<arg name="gui" default="$(arg gui)"/>
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="true"/>
|
||||
</include>
|
||||
</launch>
|
||||
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|
||||
|
||||
<launch>
|
||||
<!-- Show Gazebo GUI on launch -->
|
||||
<include file="$(find aws_robomaker_small_warehouse_world)/launch/small_warehouse.launch">
|
||||
<arg name="gui" value="true"/>
|
||||
</include>
|
||||
</launch>
|
||||
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|
||||
image: map.pgm
|
||||
resolution: 0.020000
|
||||
origin: [-10.000000, -20.240000, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
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|
||||
image: map_rotated.png
|
||||
resolution: 0.050000
|
||||
origin: [-7.000, -10.500000, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
# -3.071 3.583
|
||||
BIN
simulators/aws-robomaker-small-warehouse-world_h/maps/005/map_rotated.pgm
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|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2019-03-21T07:58:19Z</created><keywords></keywords><modified>2019-03-21T07:58:19Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
|
||||
<library_materials>
|
||||
<material id="Material #946391" name="Material #946391">
|
||||
<instance_effect url="#Material #946391-fx"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_effects>
|
||||
<effect id="Material #946391-fx" name="Material #946391">
|
||||
<profile_COMMON>
|
||||
<technique sid="standard">
|
||||
<phong>
|
||||
<emission>
|
||||
<color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<color sid="diffuse">0.588000 0.588000 0.588000 1.000000</color>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
|
||||
</specular>
|
||||
<shininess>
|
||||
<float sid="shininess">2.000000</float>
|
||||
</shininess>
|
||||
<reflective>
|
||||
<color sid="reflective">0.000000 0.000000 0.000000 1.000000</color>
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File diff suppressed because one or more lines are too long
@@ -0,0 +1,11 @@
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<?xml version="1.0" ?>
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<model>
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<name>aws_robomaker_warehouse_ShelfD_01</name>
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<author>
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<name></name>
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<email></email>
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</model>
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<?xml version="1.0" ?>
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<visual name="visual">
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</model>
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</sdf>
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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user