This sample application demonstrates and end-to-end robotics system with the Open Source Rover from NASA JPL. It includes a URDF file modeled after the popular open source project. To learn more about the open source rover, check it out here
RoboMaker sample applications include third-party software licensed under open-source licenses and is provided for demonstration purposes only. Incorporation or use of RoboMaker sample applications in connection with your production workloads or a commercial products or devices may affect your legal rights or obligations under the applicable open-source licenses. Source code information can be found here.
- ROS Kinetic - Other versions may work, however they have not been tested
- Colcon - Used for building and bundling the application.
sudo apt-get update
rosdep update
cd robot_ws
rosws update
rosdep install --from-paths src --ignore-src -r -y
colcon build
cd simulation_ws
rosws update
rosdep install --from-paths src --ignore-src -r -y
colcon build
Launch the application with the following commands:
Running Robot Application
source robot_ws/install/local_setup.sh
roslaunch martian_detector martian_detector.launch
Running Simulation Application
source simulation_ws/install/local_setup.sh
roslaunch rover_gazebo main_with_objects.launch
You first need to install colcon-ros-bundle. Python 3.5 or above is required.
pip3 install -U setuptools
pip3 install colcon-ros-bundle
After colcon-ros-bundle is installed you need to build your robot or simulation, then you can bundle with:
# Bundling Robot Application
cd robot_ws
source install/local_setup.sh
colcon bundle
# Bundling Simulation Application
cd simulation_ws
source install/local_setup.sh
colcon bundle
This produces the artifacts robot_ws/bundle/output.tar
and simulation_ws/bundle/output.tar
respectively.
You'll need to upload these to an s3 bucket, then you can use these files to
create a robot application,
create a simulation application,
and create a simulation job in RoboMaker.
/motion
/notifier
/object_detector
To roam around the simulated mars world and find martians, you can use the teleop_twist_keyboard commands by running the following statement in your terminal:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Full instructions on how to setup the AWS cloud infrastructure and run the demo can be found at: https://www.robomakerworkshops.com.
MIT-0 - See LICENSE.txt for further information
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