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Package Summary

Tags No category tags.
Version 1.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/hlfshell/wpi-capstone.git
VCS Type git
VCS Version main
Last Updated 2024-02-14
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

AWS RoboMaker package for a house world with multiple rooms and furniture for Gazebo simulations.

Additional Links

No additional links.

Maintainers

  • AWS RoboMaker

Authors

  • AWS RoboMaker

AWS RoboMaker Small House World ROS package

Gazebo01

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

Include the world from another package

  • 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: ros2}

  • Add the following to your launch file:
    small_house = launch.actions.IncludeLaunchDescription(
        launch.launch_description_sources.PythonLaunchDescriptionSource(
            os.path.join(
                get_package_share_directory('aws_robomaker_small_house_world'),
                'launch',
                'small_house.launch.py')))

Load directly into Gazebo (without ROS)

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

ROS Launch with Gazebo viewer (without a robot)

# build for ROS
source /opt/ros/dashing/setup.bash
source /usr/share/gazebo/setup.sh
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS
source install/setup.sh
ros2 launch aws_robomaker_small_house_world small_house.launch.py gui:=true

Building

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

How to Replace Photos in Picture Frames

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/.

Portrait Model Resolution Photo
DeskPortraitA_01 650x1024  
DeskPortraitA_02 650x1024 doug
DeskPortraitB_01 650x1024  
DeskPortraitB_02 650x1024  
DeskPortraitC_01 1024x1024  
DeskPortraitC_02 1024x1024  
DeskPortraitD_01 1024x1024  
DeskPortraitD_02 1024x1024  
DeskPortraitD_03 1024x1024  
DeskPortraitD_04 1024x1024 ray
PortraitA_01 700x1024 tim
PortraitA_02 700x1024 anamika
PortraitB_01 700x1024 renato
PortraitB_02 700x1024 brandon
PortraitB_03 700x1024 miaofei
PortraitC_01 650x1024 sean
PortraitD_01 1024x450  
PortraitD_02 1024x450  
PortraitE_01 700x1024 maggie
PortraitE_02 700x1024 iftach

Disclaimer

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.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

Name
gazebo

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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