Robotics

I'm following the helloworld tutorial for RoboMaker, and when I have to launch the simulation application with the following command: >docker run -it -v /tmp/.X11-unix/:/tmp/.X11-unix/ \-u robomaker -e ROBOMAKER_GAZEBO_MASTER_URI=http://localhost:5555 \-e ROBOMAKER_ROS_MASTER_URI=http://localhost:11311 \robomaker-helloworld-sim-app:latest roslaunch hello_world_simulation empty_world.launch it runs the application but it does not open Gazebo in the virtual desktop to visualize the robot. How do I have to change this command?

When I create a new IAM role, in this case I am doing this in order to create an Export Job in AWS RoboMaker I get the following error: >AccessDeniedException: User: arn:aws:iam::xxxxxxxxxxxx:user/xxxxxx@xxxxxx.it is not authorized to perform: iam:CreatePolicy on resource: policy AWSRoboMakerWorldForgePolicy_eeb50488-b552-91a1-3857-f28790842fd1 because no identity-based policy allows the iam:CreatePolicy action The point is that everytime I try to create the Export Job with the same settings (same S3 bucket as an output, same IAM role name), this error appears with the same structure, but with a different alpha-numeric sequence after the "AWSRoboMakerWorldForgePolicy_", hence it is unseful also to ask for this permission since it is always different. Does anyone have any idea?

I'm following the helloworld tutorial in the Developer guide, I have added the Dockerfile and entrypoint.sh and runned all the terminal command, but when I run the command: > docker push $ecruri/$simapp the output I obtain is the following: > 50b01f0b27b7: Retrying in 1 second > 397a6b9fcc38: Retrying in 1 second >... > b97da005ff37: Waiting >... > EOF And the repository is empty. (The same goes for $robotapp) Any ideas?

I'm building the application containers for the Hello World example following the RoboMaker Developer Guide. I have downloaded it from git, added under the helloworld folder the Dockerfile and the entrypoint.sh by coping and pasting them from the guide. My question is: how do I have to change the entrypoint.sh file? Because the guide says "You may want to add your own environment configuration steps to this ENTRYPOINT file" , If I build the robot application using this command: "DOCKER_BUILDKIT=1 docker build . \--build-arg ROS_DISTRO=melodic \--build-arg LOCAL_WS_DIR=./robot_ws \--build-arg APP_NAME=helloworld-robot-app \-t robomaker-helloworld-robot-app" the following error pops up: "failed to solve with frontend dockerfile.v0: failed to read dockerfile: open /var/lib/docker/tmp/buildkit-mount171637073/Dockerfile: no such file or directory" If it helps, the setup.bash and setup.sh files are both under helloworld/robot_ws/install and helloworld/simulation_ws/install folder, while the code for entrypoint.sh is as follows: #!/bin/bash set -e source "/home/$USERNAME/workspace/$APP_NAME/setup.bash" if [[ -f "/usr/share/$GAZEBO_VERSION/setup.sh" ]] then source /usr/share/$GAZEBO_VERSION/setup.sh fi printenv exec "${@:1}"

I'm following the tutorial in https://docs.aws.amazon.com/robomaker/latest/dg/run-hello-world-ros.html and have successfully build the images, pushed to ECR and created simulation job with them. However when running the simulation job, both instances needs to be told where their respective IP are beforehand, which it's usually available after the simulation job is running. So is it possible to know which IP the instances is getting assigned before the instances are up and running?

I'm following [this](https://aws.amazon.com/blogs/robotics/deploy-robotic-applications-using-aws-robomaker/) tutorial for deploying robot applications on real robots using aws robomaker. My question is, will the source code be available on the deployed robot? if yes, how should I deploy my code so the user don't have access to the source code?

Hi there, I trying to set up port forwarding for my simulation so that I can test my FMS. I followed this tutorial https://docs.aws.amazon.com/robomaker/latest/dg/simulation-job-remote-connectivity.html. But I still failed to connect. Could you please instruct me in detail on how to connect to my FMS? Thank you and have a nice day,

Hey all, I am trying run a simulation from my own package in Gazebo. Bu getting the following error. ... logging to /home/ubuntu/.ros/log/ebb4b9b0-f856-11ea-9922-028fb57b8d38/roslaunch-ip-172-31-20-103-3021.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 308, in main p.start() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start self._start_infrastructure() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure self._load_config() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default loader.load(f, config, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 750, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 722, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 686, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 627, in _include_tag default_machine, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 686, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 589, in _include_tag inc_filename = self.resolve_args(tag.attributes\['file'].value, context) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args resolved = _resolve_args(resolved, context, resolve_anon, commands) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args resolved = commands\[command](resolved, a, args, context) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find source_path_to_packages=source_path_to_packages) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable full_path = _get_executable_path(rp.get_path(args\[0]), path) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 207, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths) ResourceNotFound: gazebo_ros ROS path \[0]=/opt/ros/kinetic/share/ros ROS path \[1]=/home/ubuntu/environment/robot_ws/install/cr3_moveit_config/share ROS path \[2]=/home/ubuntu/environment/robot_ws/install/cr3/share ROS path \[3]=/opt/ros/kinetic/share

Hi everyone, I am developing on Melodic. This is my first time using the Robomaker and colcon. Coming from catkin, I have a few questions about it: 1) Are we supposed to effectively abandon catkin in Robomaker and use colcon instead for ROS 1 too? 2) What about apt? We use colcon instead of that too? Is that recommended best practices? 3) Is there an equivalent to the catkin_create_pkg? I see <ros2 pkg create> but that seems to be for ROS2 only. Thank you for your help

Hi guys, I am following the guide to create my first robotic application on ROS Melodic. I noticed I can't use rosbash tools like roscd and rosls right off the bat. Why is that? Thank you Edited by: sharvilsp on Aug 30, 2020 10:05 PM

Hi, I am new to AWS Cloud9 and Robomaker. We currently use a number of robots with ARM64 architecture. From the documentation it appears fairly simple to cross compile to ARMHF using Cloud9 docker container as described here - https://docs.aws.amazon.com/robomaker/latest/dg/gs-deploy.html Keen to know if there is a similar process for cross compilation to ARM64? Edited by: MatA on Jun 13, 2020 9:19 PM

So far, AWS Robomaker supports ROS2 Dashing. I want install ROS2 latest version. (now, ROS2 Eloquent). Can I do this? Thanks.

Hi, Are there any reserved topics being sent over greengrass IoT by a robomaker deployment job that can be accessed while a deployment is occuring? - Austin

Hi Amazonians, I am trying the tutorials in AWS RoboMaker Developer Guide, specifically this part: > **AWS RoboMaker Developer Guide** > Getting Started > Step 3: Configure Environment and Build Applications > Modify and Build Applications > 3. In the **HelloWorld** AWS Cloud9 development environment, choose Resources, then choose **Download samples**, and then select **1. Hello World.** Link: https://docs.aws.amazon.com/robomaker/latest/dg/gs-build.html Half way downloading the samples, the terminal prompted me for a decision: ``` debconf: falling back to frontend: Readline Configuring unattended-upgrades ------------------------------- A new version (/etc/apt/apt.conf.d/50unattended-upgrades.ucftmp) of configuration file /etc/apt/apt.conf.d/50unattended-upgrades is available, but the version installed currently has been locally modified. 1. install the package maintainer&#39;s version 2. keep the local version currently installed 3. show the differences between the versions 4. show a side-by-side difference between the versions 5. show a 3-way difference between available versions 6. do a 3-way merge between available versions 7. start a new shell to examine the situation What do you want to do about modified configuration file 50unattended-upgrades? 1 1 1. 1. 1. install 1. install the package maintainer&#39;s version 2 2. 2. 2. keep 2. keep the local version currently installed ^[[A ^[[B ^[[D^[[C ^C Process exited with code: 0 Pane is dead ``` I have been trying to get through the prompt by typing the numbers, the sentence, up and down, but everything fails. Finally, I ended the process using Ctrl + C. This seems like a very dumb question but I just can&#39;t continue the tutorial. I have been Googling as well but to no avail. Any help or guide from Amazonians would be much appreciated!! Thank you very much!! :)

Hi, I&#39;ve been able to build, bundle and launch simulations, but now I&#39;m trying to write a file (CSV) with my simulation application. In my simulation application the robot does some tasks, and when it completes a task, its speed, task time, task success etc. gets logged into a CSV file by a ROS node. Then, I have another ROS node that uploads that log to my S3 bucket. However, the node wasn&#39;t able to create a file. I looked at the location using the Terminal application and the file doesn&#39;t exist. Furthermore at the beginning of the simulation log this appeared: ``` WARNING: Could not change permissions for folder [/home/robomaker/.ros/log/5670f31c-4309-11ea-a51d-0242a9fe0103], make sure that the parent folder has correct permissions. ``` which led me to think my IAM Role doesn&#39;t have sufficient permission to write in the EC2 instance of the simulation application. The IAM role I used for launching the sim app has the following policies: **AmazonEC2FullAccess** **AmazonS3FullAccess** **AWSRoboMakerFullAccess** **AWSRoboMakerServiceRolePolicy** **AWSCloud9Administrator** **CloudWatchLogsFullAccess** My question is, what other policies do I need in order to create and write files in the simulation application instance?

Intro: I'm able to do colcon build and bundle correctly on RoboMaker, and am able launch the simulation, but it fails when trying to find the correct armadillo library. `error while loading shared libraries: libarmadillo.so.8: cannot open shared object file: No such file or directory` I found out that bundle included the v6.5 armadillo library, whereas for my simulation to work it needs the v8.5 version of armadillo. ROS version: Kinetic Gazebo version: 9 Question: Is there a way for me to guide colcon bundle to get the version of armadillo I need? My understanding of colcon bundle is that it looks into the package.xml of each ROS package and get their dependencies accordingly. With that in mind, I tried putting in my package.xml files: 1. ``` <depend version_eq="8.500.1">armadillo</depend >``` 2. ``` <depend version_gt="6" version_lt="9">armadillo</depend >``` 3. ``` <depend version_eq="1:8.500.1">armadillo</depend >``` I also noticed this open issue https://github.com/colcon/colcon-bundle/issues/118 (that led me to https://github.com/colcon/colcon-bundle/pull/117), but wasn't sure how to apply them to solve my problem. Edited by: khaiyichin on Jan 9, 2020 3:38 PM Edited by: khaiyichin on Jan 9, 2020 4:21 PM

Hi all, I was trying the tutorial in setting up an environment and building applications (https://docs.aws.amazon.com/robomaker/latest/dg/gs-build.html) when I encountered this problem. Specifically, after creating the environment, when I tried to download the &#39;Hello World&#39; sample, the following showed up after a while: ``` The GRUB boot loader was previously installed to a disk that is no longer present, or whose unique identifier has changed for some reason. It is important to make sure that the installed GRUB core image stays in sync with GRUB modules and grub.cfg. Please check again to make sure that GRUB is written to the appropriate boot devices. If you&#39;re unsure which drive is designated as boot drive by your BIOS, it is often a good idea to install GRUB to all of them. Note: it is possible to install GRUB to partition boot records as well, and some appropriate partitions are offered here. However, this forces GRUB to use the blocklist mechanism, which makes it less reliable, and therefore is not recommended. 1. /dev/nvme0n1 (51539 MB; ???) 3. none of the above 2. - /dev/nvme0n1p1 (51538 MB; /) (Enter the items you want to select, separated by spaces.) GRUB install devices: ``` Nothing I typed worked; all it does is go into a new line after I press the ENTER key every time without any sort of response. Things I&#39;ve tried: &#39;1&#39;, then ENTER key &#39;1. /dev/nvme0n1&#39;, then ENTER key &#39;1.&#39;, then ENTER key &#39;1 2&#39;, then ENTER key &#39;1. /dev/nvme0n1 (51539 MB; ???)&#39;, then ENTER key Does anyone else have this problem / encountered this? This sounds like a ridiculously simple problem to solve, but I can&#39;t seem to find out how.

Hi everyone, When I create a new simulation job I see my nodes are working and doing their jobs. But then I wanna change a little part of the code or add a new node. After that here the steps I watch: - Close the simulation. - Do the changes or add some new features on Cloud9. - Build, bundle and copy your code into S3. - Run a new simulation. Do I have to repeat these steps all the time when I want to change something? I am wondering that is there an easy way to do these or not? Thank you.