/cpr_gazebo

Primary LanguageCMake

cpr_gazebo

This demonstrates the structure of a ROS project that works with RoboMaker by creating a robot spinning in an empty world.

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.

Requirements

  • ROS Kinetic / ROS Melodic - Other versions may work, however they have not been tested
  • Colcon - Used for building and bundling the application.

Build

Install requirements

Follow links above for instructions on installing required software.

Pre-build commands

sudo apt-get update
rosdep update

Robot

cd robot_ws
vcs import < .rosinstall
rosdep install --from-paths src --ignore-src -r -y
colcon build

Simulation

cd simulation_ws
vcs import < .rosinstall
rosdep install --from-paths src --ignore-src -r -y
colcon build

Run

Using this sample with RoboMaker

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.

ROS Nodes launched by this Sample

Nodes created by this sample

/rotate

ROS Topics used by this Sample

/clock
/cmd_vel

License

MIT-0 - See LICENSE for further information

How to Contribute

Create issues and pull requests against this Repository on Github