AWS RoboMaker ROS Message Service

This package contains ROS service definitions for service endpoints provided inside of an AWS RoboMaker simulation.

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. Add a .rosinstall file with the contents below into your workspace folder then run rosws update:

- git: {local-name: src/aws-robomaker-simulation-ros-pkgs, uri: 'https://github.com/aws-robotics/aws-robomaker-simulation-ros-pkgs.git', version: master}

1. Add a dependency to your package.xml to access the service types (.srv):

<package>
   ...
   <depend>aws_robomaker_simulation_ros_pkgs</depend>
</package>

1. Follow the Python usage below and then build and bundle your workspace as per usual:

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

Usage

You can tag, untag, and list tags in your simulation job from the ROS command-line or in your ROS application while it is running. See AWS RoboMaker documentation. You must have an IAM role with the permissions below. Replace account# with your account number.

{
    "Version": "2012-10-17",
    "Statement": [
        {
            "Action": [
                "robomaker:TagResource",
                "robomaker:UntagResource",
                "robomaker:ListTagsForResource"
            ],
            "Resource": [
                "arn:aws:robomaker:*:account#:simulation-job/*"
            ],
            "Effect": "Allow"
        }
    ]
}

AddTags

Python

import rospy
from robomaker_simulation_msgs.msg import Tag
from robomaker_simulation_msgs.srv import AddTags

def add_tags_to_my_sim():
    add_tags([Tag(key="name", value="my_test")])

def add_tags(tags):
    timeoutInSeconds = 60
    rospy.wait_for_service('/robomaker/job/add_tags', timeout=timeoutInSeconds)
    requestAddTags = rospy.ServiceProxy('/robomaker/job/add_tags', AddTags)
    response = requestAddTags(tags)
    if not response.success:
        # AddTags failed
        print response.message

RemoveTag

Python

import rospy
from robomaker_simulation_msgs.srv import RemoveTags

def remove_tags_from_my_sim():
    remove_tags([Tag(key="name", value="my_test")])

def remove_tags(tags):
    timeoutInSeconds = 60
    rospy.wait_for_service('/robomaker/job/remove_tags', timeout=timeoutInSeconds)
    requestRemoveTags = rospy.ServiceProxy('/robomaker/job/remove_tags', RemoveTags)
    response = requestRemoveTags(tags)
    if not response.success:
        # RemoveTags failed
        print response.message

ListTags

Python

import rospy
from robomaker_simulation_msgs.srv import ListTags

def list_tags():
    timeoutInSeconds = 60
    rospy.wait_for_service('/robomaker/job/list_tags', timeout=timeoutInSeconds)
    requestListTags = rospy.ServiceProxy('/robomaker/job/list_tags', ListTags)
    response = requestListTags()
    if response.success:
        # ListTags succeeded
        print response.tags
    else:
        # ListTags failed
        print response.message

CancelSimulation

You can cancel your simulation job from the ROS command-line or in your ROS application while it is running. See AWS RoboMaker documentation. You must have an IAM role with the permissions below. Replace account# with your account number.

{
    "Version": "2012-10-17",
    "Statement": [
        {
            "Action": [
                "robomaker:CancelSimulationJob"
            ],
            "Resource": [
                "arn:aws:robomaker:*:account#:simulation-job/*"
            ],
            "Effect": "Allow"
        }
    ]
}

Python

import rospy
from robomaker_simulation_msgs.srv import Cancel

def cancel_job():
    timeoutInSeconds = 60
    rospy.wait_for_service('/robomaker/job/cancel', timeout=timeoutInSeconds)
    requestCancel = rospy.ServiceProxy('/robomaker/job/cancel', Cancel)
    response = requestCancel()
    if not response.success:
        # Request cancel job failed
        print response.message

License

This library is licensed under the Apache 2.0 License.

Changelog for package robomaker_simulation_msgs

1.1.1 (2020-11-09)

• Add newlines to CMakeLists (#10) (#12)
• Merge pull request #9 from aws-robotics/kinetic-dep Remove rospy from CMakeLists.txt
• Remove rospy from CMakeLists.txt
• Minor fixes to sample code snippets (#8)
• Merge pull request #4 from aws-robotics/samuelgundry-dev README step for adding dependency to package.xml
• README step for adding dependency to package.xml
• Document install steps for robomaker_simulation_msgs README (#3)
• Merge pull request #2 from aws-robotics/samuelgundry-dev Document permissions in msgs README
• Document permissions in msgs README
• Update README.md, syntax highlighting for python
• Initial commit to add robomaker_simulation_msgs and aws_robomaker_simulation_ros_pkgs (#1)
• Contributors: Anamika Mukherji, Connor Gibb, Devin Bonnie, Matthew Murphy, Sam Gundry, Samuel Gundry