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: ros2}

• Add the following to your launch file:

    small_house = launch.actions.IncludeLaunchDescription(
        launch.launch_description_sources.PythonLaunchDescriptionSource(
            os.path.join(
                get_package_share_directory('aws_robomaker_small_house_world'),
                'launch',
                'small_house.launch.py')))

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
source /opt/ros/dashing/setup.bash
source /usr/share/gazebo/setup.sh
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS
source install/setup.sh
ros2 launch aws_robomaker_small_house_world small_house.launch.py gui:=true

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

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

Disclaimer

All objects in the scene should be static objects as intended for this sample app. If there is a need for some of objects to be non-static, change their 'static' flag in the world file to 'false', and make sure they have correct mass and inertia values in their model.sdf Link: http://gazebosim.org/tutorials?tut=inertia&cat=build_robot

Currently, objects in scene have inconsistent mass and inertia values, they will be fixed in the future change. Inconsistent mass and inertia should not affect static object simulation.