ROS package for a small house Gazebo world

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(aws_robomaker_small_house_world)
+
+find_package(catkin REQUIRED COMPONENTS
+  gazebo_ros
+  turtlebot3_description
+  turtlebot3_navigation  # required for copy of .rviz file
+)
+
+catkin_package()
+
+install(DIRECTORY launch models worlds maps photos
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+# Copy the rviz model for easier access in AWS RoboMaker RViz 
+install(FILES ${turtlebot3_navigation_DIR}/../rviz/turtlebot3_navigation.rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
+  RENAME turtlebot3_navigation.rviz
+)

README.md

@@ -1,7 +1,124 @@
-## AWS Robomaker Small House World
+# AWS RoboMaker Small House World ROS package
 
-A house world with multiple rooms and furniture for AWS RoboMaker and Gazebo simulations.
+**This is a pre-release. Do not consume.**
 
-## License Summary
+![Gazebo01](docs/images/gazebo_01.png)
+
+# 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: master}
+```
+* Add the following to your launch file:
+```xml
+<launch>
+  <!-- Launch World -->
+  <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch"/>
+  ...
+</launch>
+```
+
+# Load directly into Gazebo (without ROS)
+```bash
+export GAZEBO_MODEL_PATH=`pwd`/models
+gazebo worlds/small_house.world
+```
+
+# ROS Launch with Gazebo viewer (without a robot)
+```bash
+# build for ROS
+rosdep install --from-paths . --ignore-src -r -y
+colcon build
+
+# run in ROS
+source install/setup.sh
+roslaunch aws_robomaker_small_house_world view_small_house.launch
+```
+
+# Robot Simulation
+Do not use (0,0,0) for the initial position as it will collide with the lounge chairs. Instead, use (-3.5,1.0,0.0).  
+
+With Turtlebot Waffle PI initially positioned between the living and kitchen:
+```
+export TURTLEBOT3_MODEL=waffle_pi
+export ROBOT_INITIAL_POSE="-x 3.5 -y 1.0 -z 0.0 -R 0.0 -P 0.0 -Y 0.0"
+roslaunch turtlebot_gazebo turtlebot_world.launch  world_file:=`pwd`/worlds/small_house.world
+```
+
+# Building
+Include this as a .rosinstall dependency in your SampleApplication simulation workspace. ~colcon build` will build this repository.  
+
+To build it outside an application, note there is no robot workspace. It is a simulation workspace only. 
+
+```bash
+$ rosws update
+$ rosdep install --from-paths . --ignore-src -r -y
+$ colcon build
+```
+
+
+# Navigation
+A SLAM-generated map for *Turtlebot Waffle PI* is included with a pre-defined route.
+
+## Run Navigation with Gazebo viewer:
+```bash
+export TURTLEBOT3_MODEL=waffle_pi
+roslaunch aws_robomaker_small_house_world small_house_turtlebot_navigation.launch gui:=true
+```
+
+## Run Navigation with RViz (and Gazebo viewer):
+```bash
+export TURTLEBOT3_MODEL=waffle_pi
+roslaunch aws_robomaker_small_house_world small_house_turtlebot_navigation.launch open_rviz:=true gui:=true
+```
+
+### Run RViz separately for navigation 
+
+This will show you the SLAM map and current plan.
+
+Locally,
+```
+rviz -d rviz/turtlebot3_navigation.rviz
+```
+
+In RoboMaker RViz viewer, use File -> Open:
+```
+.../workspace/<robot|simulation>-application/bundle/opt/aws_robomaker_small_house_world/share/aws_robomaker_small_house_world/rviz/turtlebot3_navigation.rviz
+```
+
+![NavPath](docs/images/nav_path_rviz_gazebo.png)
+
+# 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 |
 
-This sample code is made available under a modified MIT license. See the LICENSE file.

launch/small_house.launch

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+<launch>
+  <!-- Always set GUI to false for AWS RoboMaker Simulation
+       Use gui:=true on roslaunch command-line to run with a gui.
+  -->
+  <arg name="gui" default="false"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find aws_robomaker_small_house_world)/worlds/small_house.world"/>
+    <arg name="paused" default="false"/>
+    <arg name="use_sim_time" default="true"/>
+    <arg name="gui" default="$(arg gui)"/>
+    <arg name="headless" default="false"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="true"/>
+  </include>
+</launch>

launch/small_house_turtlebot_navigation.launch

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+<launch>
+  <!-- Turtlebot robot model -->
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>                                                                                
+
+  <!-- 
+      Only allow users to set (x,y,yaw), otherwise initial 
+      2D pose estimates will be wrong 
+  -->
+  <arg name="x_pos" default="3.5"/>
+  <arg name="y_pos" default="1.0"/>
+  <arg name="yaw" default="0.0"/>
+
+  <!-- 
+       Always set GUI to false for AWS RoboMaker Simulation
+       Use gui:=true on roslaunch command-line to run with a gui.
+  -->
+  <arg name="gui" default="false"/>
+
+  <!-- Load the small house world into Gazebo -->
+  <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch">
+    <arg name="gui" value="$(arg gui)"/>
+  </include>
+
+  <!-- Spawn the robot into Gazebo with the turtlebot description -->
+  <include file="$(find turtlebot3_description_reduced_mesh)/launch/spawn_turtlebot.launch">
+    <arg name="x_pos" default="$(arg x_pos)"/>
+    <arg name="y_pos" default="$(arg y_pos)"/>
+    <arg name="yaw" default="$(arg yaw)"/>
+  </include>
+
+  <!-- Enable navigation system -->
+  <include file="$(find aws_robomaker_small_house_world)/launch/turtlebot3_navigation.launch">
+    <arg name="map_file" value="$(find aws_robomaker_small_house_world)/maps/turtlebot3_$(arg model)/map.yaml"/>
+    <!-- Initial pose must match the starting position of the robot for an aligned map -->
+    <arg name="initial_pose_x" value="$(arg x_pos)"/>
+    <arg name="initial_pose_y" default="$(arg y_pos)"/>
+    <arg name="initial_pose_a" default="$(arg yaw)"/>
+    <arg name="open_rviz" value="false"/>
+  </include>
+</launch>

launch/small_house_turtlebot_slam.launch

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+<launch>
+  <!-- World -->
+  <arg name="gui" default="false"/>
+  <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch">
+    <arg name="gui" value="$(arg gui)"/>
+  </include>
+
+  <!-- Spawn robot into simulation -->
+  <include file="$(find turtlebot3_description_reduced_mesh)/launch/spawn_turtlebot.launch"/>
+
+  <!-- SLAM 
+    
+    Launch this command to generate a occupancy map for the Turtlebot. This map 
+    can then be used by turtlebot3_navigation.
+
+    See http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#slam
+
+    -->
+  <include file="$(find turtlebot3_slam)/launch/turtlebot3_slam.launch"/>
+    <arg name="open_rviz" default="false"/>
+    <arg name="slam_methods" default="gmapping"/>
+</launch>

launch/turtlebot3_navigation.launch

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+<!-- Copied from turtlebot3_navigation, allow initial pose arguments -->                                                                                                            
+<launch>
+  <!-- Arguments -->
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>                                                                                
+  <arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/>
+  <arg name="open_rviz" default="false"/>
+  <arg name="initial_pose_x" default="0.0"/>                                                                                                                                        
+  <arg name="initial_pose_y" default="0.0"/>
+  <arg name="initial_pose_a" default="0.0"/>
+
+  <!-- Turtlebot3
+  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
+    <arg name="model" value="$(arg model)" />
+  </include>
+-->
+
+  <!-- Map server -->
+  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
+
+  <!-- AMCL -->
+  <include file="$(find turtlebot3_navigation)/launch/amcl.launch">
+      <arg name="initial_pose_x" default="$(arg initial_pose_x)"/>
+      <arg name="initial_pose_y" default="$(arg initial_pose_y)"/>
+      <arg name="initial_pose_a" default="$(arg initial_pose_a)"/>
+  </include>
+
+  <!-- move_base -->
+  <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
+    <arg name="model" value="$(arg model)" />
+  </include>
+
+  <!-- rviz -->
+  <group if="$(arg open_rviz)"> 
+    <node pkg="rviz" type="rviz" name="rviz" required="true"
+          args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
+  </group>
+</launch>

launch/view_small_house.launch

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+<launch>
+  <!-- Show Gazebo GUI on launch -->
+  <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch">
+    <arg name="gui" value="true"/>
+  </include>
+</launch>

maps/turtlebot3_waffle_pi/map.yaml

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+image: map.pgm
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+