AWS Deepracer Simulation with ROS2 Foxy

Introduction

This repository provides the tools and instructions necessary to simulate and control an AWS Deepracer using ROS2 on Ubuntu 20.04. It includes integration with PyBullet for physics-based simulations.

Sources

• Object models sourced from ChenEating716/pybullet-URDF-models.
• AWS Deepracer models and details from aws-deepracer.

Environment Setup for ROS2 Foxy on Ubuntu 20.04

This guide will help you set up the necessary environment for working with ROS2 Foxy.

Step 1: Install ROS2 Foxy

1. Update your package list:

   sudo apt update

2. Install ROS2 Foxy Base and other necessary packages:

   sudo apt install ros-foxy-ros-base python3-argcomplete

3. Install colcon, a command line tool to build ROS2 packages:

   sudo apt install python3-colcon-common-extensions

4. Install build essential tools:

   sudo apt install build-essential

5. Install Gazebo, a robust simulator for robotic applications:

   sudo apt install gazebo11 libgazebo11-dev

6. Install ROS packages for Gazebo:

   sudo apt install ros-foxy-gazebo-ros-pkgs

7. Install Python pip:

   sudo apt install python3-pip

Step 2: Configure Environment

1. Open your .bashrc file for editing:

   nano ~/.bashrc

2. Add Gazebo and ROS2 to your environment setup:

   echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
   echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc

3. Set the ROS Domain ID (useful for running multiple ROS2 applications within the same network):

   echo "export ROS_DOMAIN_ID=0" >> ~/.bashrc

4. Reload your .bashrc to apply the changes:

   source ~/.bashrc

Step 3: Install Additional Python Libraries

Install necessary Python libraries for running simulations:

1. Install PyBullet, a Python module for physics simulation in robotics, games, and animations:

   pip3 install pybullet

2. Upgrade NumPy, a fundamental package needed for scientific computing with Python:

   pip3 install --upgrade numpy

3. Install transforms3d, a library to manage three-dimensional geometric transformations:

   pip3 install transforms3d

4. Install Matplotlib, a plotting library for Python and its numerical extension NumPy:

   pip3 install matplotlib

After completing these steps, your system should be ready to run ROS2 Foxy simulations in conjunction with Gazebo and other necessary Python libraries.

Running Simulations

1. To start a simulation with the AWS Deepracer:

   ros2 run deepracer_nodes bullet_one_camera

Teleoperating the Deepracer

2. To control the Deepracer using the keyboard, execute:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard

ROS Topics and Commands

3. List all active ROS topics with:

   ros2 topic list

4. To view the output of a specific topic in real-time:

   ros2 topic echo <topic name>