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

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

• 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: master}
  

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

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

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

• Build your application using colcon

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

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

cd aws-robomaker-small-warehouse-world
export GAZEBO_MODEL_PATH=`pwd`/models
gazebo worlds/small_warehouse.world

Tested in ROS Kinetic/Melodic, Gazebo 7/9 with node version 8.11.3/10.22.1

To open this world in Gzweb, There are two steps,

1. In a terminal, change to your ROS workspace root folder and run gzserver with the small warehouse world:

cd aws-robomaker-small-warehouse-world
export GAZEBO_MODEL_PATH=`pwd`/models
gzserver worlds/small_warehouse.world

2. In another terminal, setup and run GzWeb

• Install GzWeb by following the official documentation:

  Important:

  • The recommended NodeJS versions are 4 up to version 8.
  • Watch out for conflicting installations of Node/NodeJS
  • See Troubleshooting section for other issues

• Deploy GzWeb

  • Approach 1: Copy all the Gazebo models from small-warehouse world to gzweb/http/client/assets/, and run the deploy script

  cp -r ~/aws-robomaker-small-warehouse-world/models/. ~/gzweb/http/client/assets
  cd ~/gzweb
  export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine
  npm run deploy
  npm start

  • Approach 2: without copying the Gazebo models, export Gazebo model path and run the deploy script with -m local

  cd aws-robomaker-small-warehouse-world
  export GAZEBO_MODEL_PATH=`pwd`/models
  cd ~/gzweb
  export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine
  npm run deploy --- -m local
  npm start

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

# run in ROS
source install/setup.sh
roslaunch aws_robomaker_small_warehouse_world view_small_warehouse.launch

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

• 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