## AWS Robomaker Small House World on Gzweb

Visit the AWS RoboMaker website to learn more about building intelligent robotic applications with Amazon Web Services.

• 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: ros1}

• Add the following to your launch file:

<launch>
  <!-- Launch World -->
  <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch"/>
  ...
</launch>

export GAZEBO_MODEL_PATH=`pwd`/models
gazebo worlds/small_house.world

Tested in ROS Kinetic/Melodic, Gazebo 7/9 with node version 8.11.3/10.22.1

To open this world in Gzweb, There are two steps,

1. In a terminal, change to your ROS workspace root folder and run gzserver with the small warehouse world:

cd aws-robomaker-small-house-world
export GAZEBO_MODEL_PATH=`pwd`/models
gzserver worlds/small_house.world --verbose

2. In another terminal, setup and run GzWeb

• Install GzWeb by following the official documentation:

  Important:

  • The recommended NodeJS versions are 4 up to version 8.
  • Watch out for conflicting installations of Node/NodeJS
  • See Troubleshooting section for other issues

• Deploy GzWeb

  • export Gazebo model path and run the deploy script with -m local

  cd aws-robomaker-small-house-world
  export GAZEBO_MODEL_PATH=`pwd`/models
  cd ~/gzweb
  export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine
  npm run deploy --- -m local
  npm start

Note: For Portrait Images put the required images mentioned in each visual.DAE file to each materials/textures folder because gzweb could only use the assets mentioned in gzweb/http/client/assets folder for each model.

# build for ROS
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS
source install/setup.sh
roslaunch aws_robomaker_small_house_world view_small_house.launch

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

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/.

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.