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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}
)

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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.

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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.

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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.

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# AWS RoboMaker Small Warehouse World
![Gazebo01](docs/images/small_warehouse_gazebo.png)
## AWS Robomaker Small Warehouse World on Gzweb
![Gzweb01](docs/images/gzweb_aws_warehouse.png)
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** | ![Model: Buckets](docs/images/models_buckets.png)
| **aws_robomaker_warehouse_ClutteringA_01, aws_robomaker_warehouse_ClutteringC_01, aws_robomaker_warehouse_ClutteringD_01** | ![Model: Box Clusters](docs/images/models_boxes.png) |
| **aws_robomaker_warehouse_DeskC_01** | ![Model: Desk](docs/images/models_desk.png)
| **aws_robomaker_warehouse_GroundB_01** | ![Model: Ground Paint](docs/images/models_warehouse_ground_paint.png)
| **aws_robomaker_warehouse_TrashCanC_01** | ![Model: Humans](docs/images/models_trashcan.png)
| **aws_robomaker_warehouse_Lamp_01** | ![Model: Ceiling Lamp](docs/images/models_ceiling_lamp.png)
| **aws_robomaker_warehouse_PalletJackB_01** | ![Model: Pallet Jack](docs/images/models_lift.png)
| **aws_robomaker_warehouse_ShelfD_01, aws_robomaker_warehouse_ShelfE_01, aws_robomaker_warehouse_ShelfF_01** | ![Model: Pallet Jack](docs/images/models_shelves.png)
## 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

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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>

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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/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

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786
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE Executable file
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<node name="aws_robomaker_warehouse_GroundB_01_visual" id="aws_robomaker_warehouse_GroundB_01_visual" layer="zhenghe" sid="aws_robomaker_warehouse_GroundB_01_visual"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#aws_robomaker_warehouse_GroundB_01_visual-lib"><bind_material><technique_common><instance_material symbol="Material #946568" target="#Material #946568"/><instance_material symbol="Material #946569" target="#Material #946569"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
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</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#aws_robomaker_warehouse_GroundB_01_visual"></instance_visual_scene>
</scene>
</COLLADA>

11
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_GroundB_01/model.config Executable file
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<?xml version="1.0" ?>
<model>
<name>aws_robomaker_warehouse_GroundB_01</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

46
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_GroundB_01/model.sdf Executable file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="aws_robomaker_warehouse_GroundB_01">
<link name="link">
<inertial>
<mass>1000</mass>
<inertia>
<ixx>1200083.33</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8333416.66</iyy>
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<izz>2033333.33</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE</uri>
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<surface>
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<fdir1>0 0 0</fdir1>
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</surface>
</collision>
<visual name="visual">
<geometry>
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</mesh>
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<meta> <layer> 1 </layer></meta>
</visual>
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<static>1</static>
</model>
</sdf>

BIN
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_Lamp_01/materials/textures/aws_robomaker_warehouse_Lamp_01.png Executable file
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123
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_collision.DAE Executable file
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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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<library_geometries>
<geometry id="aws_robomaker_warehouse_Lamp_01_collision-lib" name="aws_robomaker_warehouse_Lamp_01_collisionMesh">
<mesh>
<source id="aws_robomaker_warehouse_Lamp_01_collision-POSITION">
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<technique_common>
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</technique_common>
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<technique_common>
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</accessor>
</technique_common>
</source>
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</technique_common>
</source>
<vertices id="aws_robomaker_warehouse_Lamp_01_collision-VERTEX">
<input semantic="POSITION" source="#aws_robomaker_warehouse_Lamp_01_collision-POSITION"/>
</vertices>
<triangles count="12"><input semantic="VERTEX" offset="0" source="#aws_robomaker_warehouse_Lamp_01_collision-VERTEX"/><input semantic="NORMAL" offset="1" source="#aws_robomaker_warehouse_Lamp_01_collision-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#aws_robomaker_warehouse_Lamp_01_collision-UV0"/><p> 1 0 1 0 1 0 3 2 3 0 3 0 2 4 2 3 5 3 7 6 7 6 7 6 4 8 4 7 9 7 4 10 4 5 11 5 4 12 10 1 13 9 5 14 11 1 15 9 4 16 10 0 17 8 7 18 15 5 19 14 1 20 12 7 21 15 1 22 12 3 23 13 6 24 19 7 25 18 3 26 16 6 27 19 3 28 16 2 29 17 4 30 23 6 31 22 2 32 20 4 33 23 2 34 20 0 35 21</p></triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="aws_robomaker_warehouse_Lamp_01_collision" name="aws_robomaker_warehouse_Lamp_01_collision">
<node name="aws_robomaker_warehouse_Lamp_01_collision" id="aws_robomaker_warehouse_Lamp_01_collision" sid="aws_robomaker_warehouse_Lamp_01_collision"><matrix sid="matrix">-0.999000 -0.000000 -0.000000 0.087481 -0.000000 0.000000 0.998995 0.000494 0.000000 1.002288 -0.000000 1325.909302 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#aws_robomaker_warehouse_Lamp_01_collision-lib"/><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
<extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#aws_robomaker_warehouse_Lamp_01_collision"></instance_visual_scene>
</scene>
</COLLADA>

1056
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_visual.DAE Executable file
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11
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_Lamp_01/model.config Executable file
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<?xml version="1.0" ?>
<model>
<name>aws_robomaker_warehouse_Lamp_01</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

46
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_Lamp_01/model.sdf Executable file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="aws_robomaker_warehouse_Lamp_01">
<link name="link">
<inertial>
<mass>30</mass>
<inertia>
<ixx>907.144</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>104.950</iyy>
<iyz>0</iyz>
<izz>824.248</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
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<surface>
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<ode>
<mu>0.2</mu>
<mu2>0.2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
</visual>
</link>
<static>1</static>
</model>
</sdf>

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simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_PalletJackB_01/.DS_Store vendored Executable file
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simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_PalletJackB_01/materials/.DS_Store vendored Executable file
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simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_PalletJackB_01/materials/textures/aws_robomaker_warehouse_PalletJackB_01.png Executable file
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3373
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_collision.DAE Executable file
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14389
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_visual.DAE Executable file
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11
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_PalletJackB_01/model.config Executable file
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<?xml version="1.0" ?>
<model>
<name>aws_robomaker_warehouse_PalletJackB_01</name>
<version>1.0</version>
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<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

46
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf Executable file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="aws_robomaker_warehouse_PalletJackB_01">
<link name="link">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.277</ixx>
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<collision name="collision">
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<scale>1 1 1</scale>
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<visual name="visual">
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</model>
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simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_RoofB_01/materials/textures/aws_robomaker_warehouse_RoofB_01.png Executable file
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123
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_collision.DAE Executable file
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simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_visual.DAE Executable file
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simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_RoofB_01/model.config Executable file
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<?xml version="1.0" ?>
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<author>
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<email></email>
</author>
<description></description>
</model>

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simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_RoofB_01/model.sdf Executable file
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<?xml version="1.0" ?>
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3947
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_visual.DAE Executable file
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simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_ShelfD_01/model.config Executable file
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<?xml version="1.0" ?>
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<author>
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46
simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_ShelfD_01/model.sdf Executable file
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<?xml version="1.0" ?>
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