AWS RoboMaker Racetrack World ROS package

Visit the 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-racetrack-world, uri: 'https://github.com/aws-robotics/aws-robomaker-racetrack-world.git', version: ros1}

• Add the following to your launch file:

<launch>
  <!-- Launch World -->
  <include file="$(find aws_robomaker_racetrack_world)/launch/racetrack.launch"/>
  ...
</launch>

Load directly into Gazebo (without ROS)

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

ROS Launch with Gazebo viewer (without a robot)

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

# run in ROS
source install/setup.sh
roslaunch aws_robomaker_racetrack_world view_racetrack.launch

Robot Simulation

A good initial robot position near the start line is (2.75, -14.00, 0.0).

Building

Include this as a .rosinstall dependency in your SampleApplication simulation workspace and run the following commands:

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

Modes

Day

roslaunch aws_robomaker_racetrack_world view_racetrack.launch gui:=true mode:=day

Day Emtpy

roslaunch aws_robomaker_racetrack_world view_racetrack.launch gui:=true mode:=day_empty

Night

roslaunch aws_robomaker_racetrack_world view_racetrack.launch gui:=true mode:=night