119 lines
4.9 KiB
Markdown
Executable File
119 lines
4.9 KiB
Markdown
Executable File
# AWS RoboMaker Small Warehouse World
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## AWS Robomaker Small Warehouse World on Gzweb
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This Gazebo world is well suited for organizations who are building and testing robot applications for warehouse and logistics use cases.
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## 3D Models included in this Gazebo World
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| Model (/models) | Picture |
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| :------------- |:-------------:|
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| **aws_robomaker_warehouse_Bucket_01** | 
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| **aws_robomaker_warehouse_ClutteringA_01, aws_robomaker_warehouse_ClutteringC_01, aws_robomaker_warehouse_ClutteringD_01** |  |
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| **aws_robomaker_warehouse_DeskC_01** | 
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| **aws_robomaker_warehouse_GroundB_01** | 
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| **aws_robomaker_warehouse_TrashCanC_01** | 
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| **aws_robomaker_warehouse_Lamp_01** | 
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| **aws_robomaker_warehouse_PalletJackB_01** | 
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| **aws_robomaker_warehouse_ShelfD_01, aws_robomaker_warehouse_ShelfE_01, aws_robomaker_warehouse_ShelfF_01** | 
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## Building and Launching the Gazebo World with your ROS Applications
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* Create or update a **.rosinstall** file in the root directory of your ROS workspace. Add the following line to **.rosintall**:
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```
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- git: {local-name: src/aws-robomaker-small-warehouse-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git', version: master}
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```
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* Change the directory to your ROS workspace and run `rosws update`
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* Add the following include to the ROS launch file you are using:
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```xml
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<launch>
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<!-- Launch World -->
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<include file="$(find aws_robomaker_small_warehouse_world)/launch/small_warehouse.launch"/>
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...
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</launch>
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```
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* Build your application using `colcon`
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```bash
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rosws update
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rosdep install --from-paths . --ignore-src -r -y
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colcon build
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```
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## Example: Running this world directly in Gazebo without a ROS application
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To open this world in Gazebo, change the directory to your ROS workspace root folder and run:
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```bash
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cd aws-robomaker-small-warehouse-world
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export GAZEBO_MODEL_PATH=`pwd`/models
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gazebo worlds/small_warehouse.world
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```
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## Example: Running this world on Gazebo headless and running the UI on Gzweb
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*Tested in ROS Kinetic/Melodic, Gazebo 7/9 with node version 8.11.3/10.22.1*
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To open this world in Gzweb, There are two steps,
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1) In a terminal, change to your ROS workspace root folder and run gzserver with the small warehouse world:
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```bash
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cd aws-robomaker-small-warehouse-world
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export GAZEBO_MODEL_PATH=`pwd`/models
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gzserver worlds/small_warehouse.world
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```
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2) In another terminal, setup and run GzWeb
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- Install GzWeb by following the [official documentation](http://gazebosim.org/gzweb#install-collapse-1):
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**Important**:
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* The recommended NodeJS versions are 4 up to version 8.
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* Watch out for [conflicting installations of Node/NodeJS](https://askubuntu.com/questions/695155/node-nodejs-have-different-version)
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* See [Troubleshooting section](http://gazebosim.org/gzweb#install-collapse-3) for other issues
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- Deploy GzWeb
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- Approach 1: Copy all the Gazebo models from small-warehouse world to gzweb/http/client/assets/, and run the deploy script
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```bash
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cp -r ~/aws-robomaker-small-warehouse-world/models/. ~/gzweb/http/client/assets
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cd ~/gzweb
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export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine
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npm run deploy
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npm start
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```
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- Approach 2: without copying the Gazebo models, export Gazebo model path and run the deploy script with `-m local`
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```bash
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cd aws-robomaker-small-warehouse-world
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export GAZEBO_MODEL_PATH=`pwd`/models
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cd ~/gzweb
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export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine
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npm run deploy --- -m local
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npm start
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```
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## Example: Running this world directly using ROS without a simulated robot
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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.**
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```bash
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# build for ROS
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rosdep install --from-paths . --ignore-src -r -y
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colcon build
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# run in ROS
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source install/setup.sh
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roslaunch aws_robomaker_small_warehouse_world view_small_warehouse.launch
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```
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**Visit the [AWS RoboMaker website](https://aws.amazon.com/robomaker/) to learn more about building intelligent robotic applications with Amazon Web Services.**
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## Notes
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- Lighting might vary on different system(s) (e.g brighter on system without CPU and darker on system with GPU)
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- Adjust lighting parameters in .world file as you need
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