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https://github.com/t04glovern/aws-robomaker-docker
AWS RoboMaker is a development, deployment and simulation platform for ROS (Robot Operating System). We explore why Simulating robots on AWS is a big deal, and how you can do it too!
https://github.com/t04glovern/aws-robomaker-docker
aws-robomaker robomaker robot-application ros
Last synced: about 1 month ago
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AWS RoboMaker is a development, deployment and simulation platform for ROS (Robot Operating System). We explore why Simulating robots on AWS is a big deal, and how you can do it too!
- Host: GitHub
- URL: https://github.com/t04glovern/aws-robomaker-docker
- Owner: t04glovern
- License: mit-0
- Created: 2019-09-09T13:12:55.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2021-01-18T06:00:55.000Z (almost 4 years ago)
- Last Synced: 2024-04-21T17:16:24.636Z (9 months ago)
- Topics: aws-robomaker, robomaker, robot-application, ros
- Language: Python
- Homepage: https://devopstar.com/2019/09/12/aws-robomaker-beginners-guide-to-robot-simulation/
- Size: 39.3 MB
- Stars: 2
- Watchers: 2
- Forks: 8
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# AWS RoboMaker Dockerized Simulations
Monitor health and operational metrics for a fleet of robots in a simulated home using AWS CloudWatch Metrics and AWS CloudWatch Logs. Streamed metrics include speed, distance to nearest obstacle, distance to current goal, robot CPU utilization, and RAM usage.
It demonstrates how to emit metrics and logs to AWS CloudWatch to monitor your robots.
## Requirements
- [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu) / [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) - Other versions may work, however they have not been tested
- [Colcon](https://colcon.readthedocs.io/en/released/user/installation.html) - Used for building and bundling the application.
## Build
### Pre-build commands
```bash
sudo apt-get update
rosdep update
```
### Robot
```bash
sudo apt-get update
rosdep update
cd robot_ws
rosws update
rosdep install --from-paths src --ignore-src -r -y
colcon build
```
### Simulation
```bash
cd simulation_ws
rosws update
rosdep install --from-paths src --ignore-src -r -y
colcon build
```
## Run
The `TURTLEBOT3_MODEL` environment variable must be set when running the simulation application (not needed for robot application). Valid values are `burger`, `waffle`, and `waffle_pi`.
Launch the application with the following commands:
- **Running Robot Application on a Robot**
```bash
source robot_ws/install/local_setup.sh
roslaunch cloudwatch_robot deploy_rotate.launch
```
- **Running Robot Application Elsewhere**
```bash
source robot_ws/install/local_setup.sh
roslaunch cloudwatch_robot [command]
```
There are two robot launch commands:
- `rotate.launch` - The robot starts rotating
- `await_commands.launch` - The robot is idle waiting movement commands, use this for teleop and navigation
- **Running Simulation Application**
```bash
export TURTLEBOT3_MODEL=waffle_pi
source simulation_ws/install/local_setup.sh
roslaunch cloudwatch_simulation [command]
```
There are two simulation launch commands for two different worlds:
- `empty_world.launch` - Empty world with some balls surrounding the turtlebot at (0,0)
- `bookstore_turtlebot_navigation.launch` - A retail space where the robot navigates to random goals
### Monitoring with CloudWatch Logs
Robot logs from ROS nodes are streamed into CloudWatch Logs to Log Group `robomaker_cloudwatch_monitoring_example`. See `cloudwatch_robot/config/cloudwatch_logs_config.yaml`.
### Monitoring with CloudWatch Metrics
Robot metrics from ROS nodes are reported into CloudWatch Metrics `robomaker_cloudwatch_monitoring_example`. Metric resolution is configured at 10 seconds. See `cloudwatch_robot/config/cloudwatch_metrics_config.yaml`.
Operational metrics include:
- linear speed
- angular speed
- distance to nearest obstacle (closest lidar scan return)
- distance to planned goal (bookstore only, requires its navigation system)
Health metrics include CPU and RAM usage.
## Using this sample with RoboMaker
You first need to install colcon-ros-bundle. Python 3.5 or above is required.
```bash
pip3 install colcon-ros-bundle
```
After colcon-ros-bundle is installed you need to build your robot or simulation, then you can bundle with:
```bash
# 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 `robot_ws/bundle/output.tar` and `simulation_ws/bundle/output.tar` respectively.