AWS RoboMaker Small Warehouse World

This Gazebo world is well suited for organizations who are building and testing robot applications for warehouse and logistics use cases.

3D Models included in this Gazebo World

Model (/models)	Picture
aws_robomaker_warehouse_Bucket_01
aws_robomaker_warehouse_ClutteringA_01, aws_robomaker_warehouse_ClutteringC_01, aws_robomaker_warehouse_ClutteringD_01
aws_robomaker_warehouse_DeskC_01
aws_robomaker_warehouse_GroundB_01
aws_robomaker_warehouse_TrashCanC_01
aws_robomaker_warehouse_Lamp_01
aws_robomaker_warehouse_PalletJackB_01
aws_robomaker_warehouse_ShelfD_01, aws_robomaker_warehouse_ShelfE_01, aws_robomaker_warehouse_ShelfF_01

Building and Launching the Gazebo World with your ROS Applications

• Create or update a .rosinstall file in the root directory of your ROS workspace. Add the following line to .rosintall:

  - git: {local-name: src/aws-robomaker-small-warehouse-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git', version: ros2}
  

• Change the directory to your ROS workspace and run rosws update

• Add the following include to the ROS2 launch file you are using:

  import os
  
  from ament_index_python.packages import get_package_share_directory
  from launch import LaunchDescription
  from launch.actions import IncludeLaunchDescription
  from launch.launch_description_sources import PythonLaunchDescriptionSource
  
  def generate_launch_description():
      warehouse_pkg_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
      warehouse_launch_path = os.path.join(warehouse_pkg_dir, 'launch')
  
      warehouse_world_cmd = IncludeLaunchDescription(
          PythonLaunchDescriptionSource([warehouse_launch_path, '/small_warehouse.launch.py'])
      )
  
      ld = LaunchDescription()
  
      ld.add_action(warehouse_world_cmd)
  
      return ld

• Build your application using colcon

  rosws update
  rosdep install --from-paths . --ignore-src -r -y
  colcon build

Example: Running this world directly in Gazebo without a ROS application

To open this world in Gazebo, change the directory to your ROS workspace root folder and run:

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

Example: Running this world directly using ROS without a simulated robot

To launch this base Gazebo world without a robot, clone this repository and run the following commands. Note: ROS and gazebo must already be installed on the host.

# build for ROS2
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS2
source install/setup.sh
ros2 launch aws_robomaker_small_warehouse_world small_warehouse.launch.py

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

Notes

• Lighting might vary on different system(s) (e.g brighter on system without CPU and darker on system with GPU)
• Adjust lighting parameters in .world file as you need