AWS RoboMaker Gazebo Launch Package

This package contains ROS-2 launch files that integrate with AWS RoboMaker’s runtime features for Gazebo. The launch files are intended as drop in replacements for the default launch files provided by gazebo_ros

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

Install

You will need the source code in your workspace.

1. Git clone the repository containing this repo into your workspace

cd <simulation_ws>/src
git clone --single-branch --branch gazebolaunch-ros2 https://github.com/aws-robotics/aws-robomaker-simulation-ros-pkgs.git

1. Include this package’s launch file into yours (typically this would be where you used a launch file from gazebo_ros):

launch.LaunchDescription(
    launch.actions.IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(
                get_package_share_directory(
                    'aws_robomaker_gazebo_ros'),
                'launch',
                'launch_world.py',
            )
        ),
        launch_arguments={
            'gui': launch.substitutions.LaunchConfiguration('gui'),
            'world_name': os.path.join(
                get_package_share_directory('aws_robomaker_worldforge_worlds'),
                'worlds',
                'generation_sm885pycnlpf_world_1',
                'generation_sm885pycnlpf_world_1.world')
        }.items()
    )
)

1. Build your workspace as you normally would

# build for ROS
cd <simulation_ws>
rosdep install --from-paths . --ignore-src -r -y
colcon build

Usage

Now you can launch your simulation application as you normally would.

You can also colcon bundle as you normally would to bring this simulation application onto AWS RoboMaker.

License

This library is licensed under the Apache 2.0 License.