AWS DeepRacer

Overview

The AWS DeepRacer Evo vehicle is a 1/18th scale Wi-Fi enabled 4-wheel ackermann steering platform that features two RGB cameras and a LiDAR sensor. This repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.

Contents

The AWS DeepRacer repository consists of the following packages:

1. deepracer_bringup: The deepracer_bringup package hosts the launch files and configuration parameter files to launch teleop and navigation packages and nodes.

2. deepracer_description: The deepracer_description package hosts the URDF files for the AWS DeepRacer device in Gazebo simulation. This provides the arguments to configure the sensors.

3. deepracer_gazebo: The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.

4. deepracer_nodes: The deepracer_nodes packages hosts the set of nodes that are responsible to launch the AWS DeepRacer robot packages required for ROS Nav2 stack compatibility.

ROS Navigation Stack on AWS DeepRacer

Navigation2Goal

Mapping using SLAM Toolbox

Resources

• Frequently Asked Questions & Known Issues
• Getting started with AWS DeepRacer OpenSource
• Introduction to the ROS Navigation stack using AWS DeepRacer Evo

Contributing guidelines

Thank you for your interest in contributing to our project. Whether it’s a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting bugs and requesting features

Use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, check existing open and recently closed issues to make sure someone else hasn’t already reported the issue. Try to include as much information as you can. Details like these are incredibly useful:

• A reproducible test case or series of steps
• The version of our code being used
• Any modifications you’ve made relevant to the bug
• Anything unusual about your environment or deployment

Contributing through pull requests

Contributions made through pull requests are much appreciated. Before sending us a pull request, ensure that:

1. You are working against the latest source on the main branch.
2. You check existing open and recently merged pull requests to make sure someone else hasn’t addressed the problem already.
3. You open an issue to discuss any significant work; we would hate for your time to be wasted.

To send us a pull request:

1. Fork the repository.
2. Modify the source; focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass.
4. Commit to your fork using clear commit messages.
5. Send us a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional documentation on forking a repository and creating a pull request.

Finding ways to contribute

Looking at the existing issues is a great way to find something on which to contribute. As our projects, by default, use the default GitHub issue labels (enhancement, bug, duplicate, help wanted, invalid, question, wontfix), looking at any help wanted issues is a great place to start.

Code of Conduct

This project has adopted the Amazon Open Source Code of Conduct. For more information, see the Code of Conduct FAQ or contact opensource-codeofconduct@amazon.com with any additional questions or comments.

Security issue notifications

If you discover a potential security issue in this project we ask that you notify Amazon Security via our vulnerability reporting page. Please do not create a public GitHub issue.

Licensing

See the LICENSE file for our project’s licensing. We will ask you to confirm the licensing of your contribution.