This demonstrates tests you would run in a hospital Gazebo world with PR2.

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.

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

Follow links above for instructions on installing required software.

sudo apt-get update
rosdep update

cd robot_ws
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 Simulation Application in Tab 1:

  source simulation_ws/install/local_setup.sh
  roslaunch pr2_hospital_simulation view_hospital.launch

• Running Robot Application in Tab 2:

  source robot_ws/install/local_setup.sh
  roslaunch pr2_hospital_robot pr2_2dnav.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 simulation_ws/bundle/output.tar and robot_ws/bundle/output.tar.

You'll need to upload these two bundles 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. This is a simulation application only, so you can skip the steps (13-19) that are for creating or using a robot application.

You can also use the RoboMaker Development Environment (IDE). Once a development environment is open, simply clone this repository, then click Add or Edit Configurations in the top drop down menu. On the bottom of the pop-up window, click Switch Config and select the roboMakerSettings.json file provided in this repository. Then, open the simulation settings in the configuration settings window and select your IAM role and S3 buckets you want to use.

MIT-0 - See LICENSE for further information

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