This project contains ROSbot model along with launch files required to launch tutorials on AWS RoboMaker and deploy them to ROSbot with use of Greengrass. Currently, tutorials 6, 7 and 8 are tested, other tutorials will be added soon.

Using Greengrass on ROSbot requires to follow some guides locates on varous places and making manual system modifiactions. We are working on making the process smooth and easy, stay tuned!

ROSbot need some system modifications to allow Greengrass to run. Copy the setup_ROSbot_for_gg.sh file to your ROSbot and run it as root:

wget https://raw.githubusercontent.com/lukaszmitka/RoboMakerROSbotProject/master/setup_ROSbot_for_gg.sh
chmod a+x setup_ROSbot_for_gg.sh 
sudo ./setup_ROSbot_for_gg.sh

You will need RoboMaker development environmet, if you do not have it yet create it according to Create a development environment manual.

You will also need S3 bucket and IAM role prepared for simulations. In case you need help, you can check out our tutorial.

By default, script will create fleet named 'ROSbotFleet' deploy app to robot named 'ROSbot'. Your environment need to have robot created, to create a robot follow theese steps.

• Open the development environmet and go to terminal tab
• Clone this repository in ~/environment/ directory:

cd ~/environment/
git clone --recurse-submodules https://github.com/lukaszmitka/RoboMakerROSbotProject.git

Start the configuration script:

cd ~/environment/RoboMakerROSbotProject/
./IDE_setup.bash <BUCKET_NAME> <IAM_ROLE>

The script will install all dependencies, configure project, build and set the deployment job.

You can also make your modifications to package.

• Start with updating all submodules:

git submodule update --recursive --remote

• Configure the project using configure_project.py script, this will setup build, bundle and simulation tasks:

cd RoboMakerROSbotProject/
python configure_project.py --bucket BUCKET_NAME --iam IAM_ROLE

Go to menu RoboMaker Run -> Add or Edit Configurations, choose Switch config button and select roboMakerSettings.json file from folder /RoboMakerROSbotProject. Choose OK and Save.

Go to menu RoboMaker Run -> Workflow -> ROSbotTutorial - Build and Bundle All to build required packages.

Go to menu RoboMaker Run -> Launch Simulaiton -> ROSbotTutorial6 to start simulation job.

• Prepare docker build:

cd /opt/robomaker/cross-compilation-dockerfile/
sudo bin/build_image.bash

• Stop and delete all running docker containers

docker stop $(docker ps -aq)
docker rm $(docker ps -aq)

• Start docker container

cd ~/environment/RoboMakerROSbotProject
sudo docker run -v $(pwd):/ws -dt ros-cross-compile:armhf

• Build armhf application

cd ws/robot_ws
apt update
rosdep install --from-paths src --ignore-src -r -y
colcon build --build-base armhf_build --install-base armhf_install
colcon bundle --build-base armhf_build --install-base armhf_install --bundle-base armhf_bundle --apt-sources-list /opt/cross/apt-sources.yaml
exit

• Copy armhf bundle to S3 bucket

cd ~/environment/RoboMakerROSbotProject
aws s3 cp robot_ws/armhf_bundle/output.tar.gz s3://BUCKET_NAME/RoboMakerROSbotProject/robot_ws/bundle/output.armhf.tar.gz

• Start deployment job

cd ~/environment/RoboMakerROSbotProject
python deploy.py BUCKET_NAME