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Initial release of AWS RoboMaker Hello World sample application
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‎NOTICE.txt‎

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Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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This product includes software developed by
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Amazon Technologies, Inc (http://www.amazon.com/).

‎README.md‎

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## AWS Robomaker Sample Application Helloworld
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# AWS RoboMaker Sample Application - Hello World
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Each of these packages is a sample application using ROS to demonstrate the use of the RoboMaker service and integration of other AWS services with ROS.
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This demonstrates the structure of a ROS project that works with RoboMaker by creating a robot spinning in an empty world.
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_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](https://s3.console.aws.amazon.com/s3/buckets/robomaker-applications-us-east-1-72fc243f9355/hello-world/?region=us-east-1)._
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## Requirements
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- [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu) - Other versions may work, however they have not been tested
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- [Colcon](https://colcon.readthedocs.io/en/released/user/installation.html) - Used for building and bundling the application.
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## Build
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### Pre-build commands
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```bash
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sudo apt-get update
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rosdep update
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```
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### Robot
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```bash
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cd robot_ws
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rosws update
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rosdep install --from-paths src --ignore-src -r -y
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colcon build
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```
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### Simulation
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```bash
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cd simulation_ws
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rosws update
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rosdep install --from-paths src --ignore-src -r -y
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colcon build
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```
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## Run
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Launch the application with the following commands:
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- *Running Robot Application on a Robot*
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```bash
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source robot_ws/install/local_setup.sh
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roslaunch hello_world_robot deploy_rotate.launch
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```
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- *Running Robot Application Elsewhere*
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```bash
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source robot_ws/install/local_setup.sh
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roslaunch hello_world_robot rotate.launch
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```
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- *Running Simulation Application*
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```bash
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source simulation_ws/install/local_setup.sh
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roslaunch hello_world_simulation empty_world.launch
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```
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## Using this sample with RoboMaker
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You first need to install colcon-ros-bundle. Python 3.5 or above is required.
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```bash
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pip3 install colcon-ros-bundle
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```
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After colcon-ros-bundle is installed you need to build your robot or simulation, then you can bundle with:
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```bash
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# Bundling Robot Application
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cd robot_ws
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source install/local_setup.sh
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colcon bundle
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# Bundling Simulation Application
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cd simulation_ws
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source install/local_setup.sh
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colcon bundle
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```
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This produces the artifacts `robot_ws/build/output.tar.gz` and `simulation_ws/build/output.tar.gz` respectively.
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You'll need to upload these to an s3 bucket, then you can use these files to
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[create a robot application](https://docs.aws.amazon.com/robomaker/create-robot-application.html),
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[create a simulation application](https://docs.aws.amazon.com/robomaker/create-simulation-application.html),
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and [create a simulation job](https://docs.aws.amazon.com/robomaker/create-simulation-job.html) in RoboMaker.
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## ROS Nodes launched by this Sample
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### Nodes created by this sample
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```
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/rotate
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```
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## ROS Topics used by this Sample
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```
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/clock
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/cmd_vel
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```
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## License
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MIT-0 - See LICENSE.txt for further information
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## How to Contribute
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Create issues and pull requests against this Repository on Github
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## License Summary
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This sample code is made available under a modified MIT license. See the LICENSE file.

‎roboMakerSettings.json‎

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{
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"runConfigurations": [{
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"id": "HelloWorld_Cfg01",
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"name": "HelloWorld Robot",
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"type": "colcon build",
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"cfg": {
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"workingDir": "./HelloWorld/robot_ws",
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"cmdArgs": ""
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}
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}, {
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"id": "HelloWorld_Cfg02",
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"name": "HelloWorld Robot",
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"type": "colcon bundle",
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"cfg": {
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"workingDir": "./HelloWorld/robot_ws",
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"cmdArgs": ""
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}
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}, {
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"id": "HelloWorld_Cfg03",
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"name": "HelloWorld Simulation",
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"type": "colcon build",
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"cfg": {
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"workingDir": "./HelloWorld/simulation_ws",
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"cmdArgs": ""
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}
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}, {
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"id": "HelloWorld_Cfg04",
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"name": "HelloWorld Simulation",
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"type": "colcon bundle",
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"cfg": {
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"workingDir": "./HelloWorld/simulation_ws",
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"cmdArgs": ""
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}
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}, {
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"id": "HelloWorld_SimulationJob1",
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"name": "HelloWorld",
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"type": "simulation",
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"cfg": {
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"robotApp": {
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"name": "RoboMakerHelloWorldRobot",
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"s3Bucket": "<bucket name for your robot bundle>",
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"sourceBundleFile": "./HelloWorld/robot_ws/bundle/output.tar.gz",
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"architecture": "X86_64",
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"robotSoftwareSuite": {
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"version": "Kinetic",
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"name": "ROS"
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},
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"launchConfig": {
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"packageName": "hello_world_robot",
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"launchFile": "rotate.launch"
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}
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},
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"simulationApp": {
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"name": "RoboMakerHelloWorldSimulation",
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"s3Bucket": "<bucket name for your simulation bundle>",
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"sourceBundleFile": "./HelloWorld/simulation_ws/bundle/output.tar.gz",
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"architecture": "X86_64",
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"launchConfig": {
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"packageName": "hello_world_simulation",
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"launchFile": "empty_world.launch"
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},
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"robotSoftwareSuite": {
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"version": "Kinetic",
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"name": "ROS"
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},
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"simulationSoftwareSuite": {
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"name": "Gazebo",
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"version": "7"
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},
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"renderingEngine": {
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"name": "OGRE",
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"version": "1.x"
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}
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},
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"simulation": {
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"outputLocation": "<bucket name for your job outputs>",
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"failureBehavior": "Fail",
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"maxJobDurationInSeconds": 28800,
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"iamRole": "<your B9 role ARN>"
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}
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}
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},
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{
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"id": "HelloWorld_wf1",
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"type": "workflow",
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"name": "HelloWorld - Build and Bundle All",
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"runCfgIds": ["HelloWorld_Cfg01", "HelloWorld_Cfg02", "HelloWorld_Cfg03", "HelloWorld_Cfg04"]
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}
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]
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}

‎robot_ws/.rosinstall‎

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# kinetic.rosinstall
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- setup-file: {local-name: /opt/ros/kinetic/setup.sh}

‎robot_ws/src/LICENSE.txt‎

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Copyright 2018 Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

‎robot_ws/src/hello_world_robot/CMakeLists.txt‎

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################################################################################
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# Set minimum required version of cmake, project name and compile options
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(hello_world_robot)
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################################################################################
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# Find catkin packages and libraries for catkin and system dependencies
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################################################################################
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find_package(catkin REQUIRED COMPONENTS
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rospy
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std_msgs
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sensor_msgs
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geometry_msgs
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nav_msgs
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)
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################################################################################
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# Setup for python modules and scripts
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################################################################################
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catkin_python_setup()
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################################################################################
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# Declare ROS messages, services and actions
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################################################################################
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################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
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################################################################################
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# Declare catkin specific configuration to be passed to dependent projects
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################################################################################
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catkin_package(
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CATKIN_DEPENDS
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rospy
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std_msgs
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sensor_msgs
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geometry_msgs
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nav_msgs
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message_runtime
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)
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################################################################################
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# Build
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################################################################################
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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################################################################################
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# Install
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################################################################################
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catkin_install_python(PROGRAMS
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nodes/rotate
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY deploymentScripts
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DESTINATION ${CATKIN_GLOBAL_SHARE_DESTINATION}
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)
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################################################################################
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# Test
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################################################################################

‎robot_ws/src/hello_world_robot/deploymentScripts/post_launch_file.sh‎

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#!/bin/sh
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# This is a script which can be run after launching the ROS processes.
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# You can include a post-check of ROS processes in this post-launch file.
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# Non-zero exit status from script would cause robot deployment failure.
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# Use "deploymentScripts/post_launch_file.sh" as the postLaunchFile path.
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echo Hello World, post-launch

‎robot_ws/src/hello_world_robot/deploymentScripts/pre_launch_file.sh‎

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#!/bin/sh
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# This is a script which can be run before running the ROS launch file.
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# You can include a pre-check of robot environment in this pre-launch file.
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# Non-zero exit status from script would cause robot deployment failure.
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# Use "deploymentScripts/pre_launch_file.sh" as the preLaunchFile path.
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echo Hello World, pre-launch

‎robot_ws/src/hello_world_robot/launch/deploy_rotate.launch‎

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<launch>
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<!-- bringup turtlebot3 -->
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<include file="$(find turtlebot3_bringup)/launch/turtlebot3_robot.launch"/>
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<!-- deploy rotate system -->
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<include file="$(find hello_world_robot)/launch/rotate.launch">
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<arg name="use_sim_time" value="false"/>
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</include>
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</launch>

‎robot_ws/src/hello_world_robot/launch/rotate.launch‎

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<launch>
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<!--
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Using simulation time means nodes initialized after this
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will not use the system clock for its ROS clock and
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instead wait for simulation ticks.
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See http://wiki.ros.org/Clock
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Note: set to false for deploying to a real robot.
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-->
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<arg name="use_sim_time" default="true"/>
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<param name="use_sim_time" value="$(arg use_sim_time)"/>
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<!-- Rotate the robot on launch -->
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<node pkg="hello_world_robot" type="rotate" name="rotate" output="screen"/>
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</launch>

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