Simulate Erwhi on AWS RoboMaker

Check steps in this wiki page.
If you have done all these steps you can proceed.

1. Create a Development Environment

1. Go to AWS RoboMaker.
2. Check if your region is correct.
3. Click on "Development environments"
4. Click on Create environment
5. Give a name to the environment (e.g. erwhi-env)
6. Choose an instance type, default is m4.large
7. Select VPC and Subnets
8. Press on Create

2. Setup your environment

1. Click on your environment (e.g. erwhi-env) and then press to Open environment, Cloud9 will open
2. We need to create a ROS workspace so in terminal tab type:
   mkdir -p erwhi_ws/src
   
3. Now we need to install dependencies for Intel Realsense D435 ROS package. Follow this guide referencing Ubuntu 16.04 and install all packages.

3. Clone repositories

1. In terminal tab type:
   cd erwhi_ws/src
   
2. Now type:
   git clone https://github.com/gbr1/erwhi-hedgehog-ros.git
git clone https://github.com/gbr1/sengi_ros.git
git clone https://github.com/gbr1/bosch_imu_driver.git
git clone https://github.com/intel-ros/realsense.git
   

4. Build Erwhi workspace

1. update ros dependencies typing:
   cd ..
rosdep update
   
2. install all dependencies required to build Erwhi workspace:
   rosdep install --from-paths src --ignore-src -r -y
   
3. build:
   colcon build
   
4. source environment:
   source install/setup.sh
   

5. Bundle and copy to S3

1. Type:
   colcon bundle
aws s3 cp bundle/output.tar s3://bucket-source/erwhi.tar
   NOTE: edit bucket-source with your bucket name

6. Create a simulation application

1. Go back to RoboMaker dashboard
2. Click on Simulation application and press on Create simulation application
3. Give a name (e.g. erwhi-sim)
4. Go to sources and add your source path, it should be something like:
   s3://bucket-source/erwhi.tar
   NOTE: edit bucket-source with your bucket name
5. Press on Create

7. Create a Simulation Job

1. Click on Simulation Job and then press on Create simulation job
2. Choose how many time your simulation needs (e.g. 15minutes)
3. Choose a robomaker role (e.g. erwhi-robomaker)
4. Add a path for logs and bags, it should be something like:
   s3://bucket-output
   NOTE: edit bucket-output with your bucket name
5. Press on Next
6. Select None for robot application and confirm by pressing Next
7. Choose erwhi-sim application
8. In launch package name, type: erwhi_gazebo
   and in launch file: erwhi_gazebo.launch
   
9. Press Next
10. Review your simulation job, then press Create
11. Wait for green running label

8. Play with Erwhi in Gazebo

You can use same tutorial for standard Gazebo or simply:

• open gazebo with a double-click
• open rviz with a double-click
• in rviz add RobotModel and MapCloud
• using 2D Nav Goal Erwhi will reach a position
• to run autonomous navigation open terminal with a double-click and type:
  roslaunch erwhi_navigation explore.launch