AWS RoboMaker Racetrack World ROS package
Visit the 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-racetrack-world, uri: 'https://github.com/aws-robotics/aws-robomaker-racetrack-world.git', version: master}
- Add the following to your launch file:
<launch>
<!-- Launch World -->
<include file="$(find aws_robomaker_racetrack_world)/launch/racetrack.launch"/>
...
</launch>
Load directly into Gazebo (without ROS)
export GAZEBO_MODEL_PATH=`pwd`/models
gazebo worlds/racetrack_day.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_racetrack_world view_racetrack.launch
Robot Simulation
A good initial robot position near the start line is (2.75, -14.00, 0.0).
Building
Include this as a .rosinstall dependency in your SampleApplication simulation workspace and run the following commands:
$ rosws update
$ rosdep install --from-paths . --ignore-src -r -y
$ colcon build
Modes
Day
roslaunch aws_robomaker_racetrack_world view_racetrack.launch gui:=true mode:=day
Day Emtpy
roslaunch aws_robomaker_racetrack_world view_racetrack.launch gui:=true mode:=day_empty
Night
roslaunch aws_robomaker_racetrack_world view_racetrack.launch gui:=true mode:=night