AWS RoboMaker Small House World ROS package

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

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