JetBot ROS2 Application with AWS RoboMaker Support
ROS2 version of JetBot ROS Application for arm64/aarch64 machine.
Colaborators
Computer Fusion Laboratory (CFL) - Temple University College of Engineering
Initialization
Download Workspace
git clone -b ros2 https://github.com/ANI717/aws-robomaker-jetbot-ros
mv aws-robomaker-jetbot-ros jetbot
Set IoT Endpoints
cd ~/environment/jetbot/assets/scripts
chmod +x *.sh
./set_iot.sh
Setup Credentials for Joystick Control
Copy AWS Credentials to ~/environment/jetbot/assets/credentials/credentials file and run following commands. Then download the ~/environment/jetbot/assets/teleop folder for controlling jetbot with virtual joystick.
cd ~/environment/jetbot/assets/scripts
./set_credentials.sh
Create Docker Container for Cross Compilation
cd ~/environment/jetbot/assets/scripts
sudo ./set_docker.sh
Robot and Simulation
Robot URDF file
Please modify jetbot_description_launch.py and spawn_launch.py from jetbot_description package if you want to use different URDF file.
Build, Source and Run Simulation Workspace
cd ~/environment/jetbot/simulation_ws
sudo apt-get update
rosws update
rosdep update
rosdep install --from-paths src --ignore-src -r -y
export DISPLAY=:0
colcon build && source install/setup.bash && ros2 launch jetbot_sim_app circle_launch.py
colcon build && source install/setup.bash && ros2 launch jetbot_sim_app teleop_launch.py
Build, Bundle and Upload Robot Workspace
cd ~/environment/jetbot
sudo docker run --rm -ti -v $(pwd):/environment/jetbot ros2-cross-compile:arm64
cd /environment/jetbot/robot_ws/
apt update && rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --build-base 'arm64/build' --install-base 'arm64/install'
colcon bundle --build-base 'arm64/build' --install-base 'arm64/install' --bundle-base 'arm64/bundle'
exit
aws s3 cp ./robot_ws/arm64/bundle/output.tar s3://<<s3 bucket name>>/jetbot-aarch64.tar
Run following commands to test Robot Application while cross-compilation.
colcon build --build-base 'arm64/build' --install-base 'arm64/install' && \
source arm64/install/setup.bash && \
ros2 launch jetbot_app circle_launch.py
colcon build --build-base 'arm64/build' --install-base 'arm64/install' && \
source arm64/install/setup.bash && \
ros2 launch jetbot_app teleop_launch.py
Deployment
Deployment Package is jetbot_app and launch files are circle_launch.py and teleop_launch.py.
Install AWS Greengrass V1 in Jetson Nano
Log into Jetson Nano and install Greengrass core software with following commands.
sudo adduser --system ggc_user
sudo addgroup --system ggc_group
wget https://d1onfpft10uf5o.cloudfront.net/greengrass-core/downloads/1.9.1/greengrass-linux-aarch64-1.9.1.tar.gz
sudo tar -xzvf greengrass-linux-aarch64-1.9.1.tar.gz -C /
Download AWS ATS endpoint root certificate (CA)
cd /greengrass/certs/
sudo wget -O root.ca.pem https://www.amazontrust.com/repository/AmazonRootCA1.pem
Run Greengrass
Upload Robot Cirtificate in Jetson nano and install it with following commands.
sudo unzip <<robot_cert>>.zip -d /greengrass/
Start Greengrass Core.
sudo /greengrass/ggc/core/greengrassd start
Check Launch Log
Open launch.log file from /home/ggc_user/.ros/log/<<hash number>>/ directory
Jetbot Setup
Follow instructions from here and here to setup a Jetson Nano in headless mode. Follow instructions from ROS2 Dashing Official Site to install ROS2 in Jetson Nano.