Merge pull request #201 from rubennc91/master

Added home environment to Gazebo

sim_fpga/paper-FPGA_Robotics-sim-FPGA/README.md

@@ -5,28 +5,43 @@
     mkdir src
     cd src
     catkin_create_pkg diffdrive_cam_bot std_msgs rospy roscpp
-Copy the sources from paper_ros_ws to my directory source of the package. Include the turtlebot2_urdf_model folder.
+    cd ..
+    catkin_make
+		
+Copy the sources from JdeRobot repository *~/FPGA-robotics/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/*  to the directory *src* of the ros package *~/paper_simfpga_ws/src/*. Include the turtlebot2_urdf_model folder.
 
-    (opt) cp -r * ~/catkin_ws/src/
-    cd .. (paper_simfpga_ws)
+    (New terminal)
+    git clone https://github.com/JdeRobot/FPGA-robotics.git
+    cp -r ~/FPGA-robotics/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/* paper_simfpga_ws/src/
+
+    cd ~/paper_simfpga_ws
     catkin_make
-    roscd diffdrive_cam_turtlebot to check
+
+Add the directories to .bashrc
+
+    source /opt/ros/noetic/setup.bash
+    source ~/paper_simfpga_ws/devel/setup.bash
+		
+Restart terminal
+
+Check that all is right
+
+    roscd diffdrive_cam_bot
+		
+Launch the main of diffdrive_cam_bot
+
     roslaunch diffdrive_cam_bot main.launch
 
 ### Prepare Verilator workspace
-Copy the workspace from paper_verilator_ws in a place.
+Go to Verilator workspace.
 
-    cd paper_verilator_ws
+    cd ~/FPGA-robotics/sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_verilator_ws
     make
+
 ##### Check the PoC verilator simFPGA
     ./obj_dir/Vdesign_top
 
 ### Start it up all together:
 - Terminal 1: Launch ROS (`roscore`)
 - Terminal 2: Launch PoC verilator simFPGA (`./obj_dir/Vdesign_top`)
 - Terminal 3: Launch Gazebo environment (`roslaunch diffdrive_cam_bot main.launch`)
-
-### Possible bug fixes
-    source /opt/ros/noetic/setup.bash
-    source ~/catkin_ws/devel/setup.bash
-    roslaunch diffdrive_cam_bot main.launch

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,6 @@
+*Issue #, if available:*
+
+*Description of changes:*
+
+
+By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(aws_robomaker_small_house_world)
+
+find_package(catkin REQUIRED COMPONENTS
+  gazebo_ros
+)
+
+catkin_package()
+
+install(DIRECTORY launch models worlds maps photos routes
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/CODE_OF_CONDUCT.md

@@ -0,0 +1,4 @@
+## Code of Conduct
+This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct). 
+For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact 
+[email protected] with any additional questions or comments.

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/CONTRIBUTING.md

@@ -0,0 +1,61 @@
+# Contributing Guidelines
+
+Thank you for your interest in contributing to our project. Whether it's a bug report, new feature, correction, or additional 
+documentation, we greatly value feedback and contributions from our community.
+
+Please read through this document before submitting any issues or pull requests to ensure we have all the necessary 
+information to effectively respond to your bug report or contribution.
+
+
+## Reporting Bugs/Feature Requests
+
+We welcome you to use the GitHub issue tracker to report bugs or suggest features.
+
+When filing an issue, please check [existing open](https://github.com/aws-robotics/aws-robomaker-small-house-world/issues), or [recently closed](https://github.com/aws-robotics/aws-robomaker-small-house-world/issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aclosed%20), issues to make sure somebody else hasn't already 
+reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
+
+* A reproducible test case or series of steps
+* The version of our code being used
+* Any modifications you've made relevant to the bug
+* Anything unusual about your environment or deployment
+
+
+## Contributing via Pull Requests
+Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
+
+1. You are working against the latest source on the *master* branch.
+2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
+3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
+
+To send us a pull request, please:
+
+1. Fork the repository.
+2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
+3. Ensure local tests pass.
+4. Commit to your fork using clear commit messages.
+5. Send us a pull request, answering any default questions in the pull request interface.
+6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
+
+GitHub provides additional document on [forking a repository](https://help.github.com/articles/fork-a-repo/) and 
+[creating a pull request](https://help.github.com/articles/creating-a-pull-request/).
+
+
+## Finding contributions to work on
+Looking at the existing issues is a great way to find something to contribute on. As our projects, by default, use the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ['help wanted'](https://github.com/aws-robotics/aws-robomaker-small-house-world/labels/help%20wanted) issues is a great place to start. 
+
+
+## Code of Conduct
+This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct). 
+For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact 
+[email protected] with any additional questions or comments.
+
+
+## Security issue notifications
+If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security via our [vulnerability reporting page](http://aws.amazon.com/security/vulnerability-reporting/). Please do **not** create a public github issue.
+
+
+## Licensing
+
+See the [LICENSE](https://github.com/aws-robotics/aws-robomaker-small-house-world/blob/master/LICENSE) file for our project's licensing. We will ask you to confirm the licensing of your contribution.
+
+We may ask you to sign a [Contributor License Agreement (CLA)](http://en.wikipedia.org/wiki/Contributor_License_Agreement) for larger changes.

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/LICENSE

@@ -0,0 +1,14 @@
+Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this
+software and associated documentation files (the "Software"), to deal in the Software
+without restriction, including without limitation the rights to use, copy, modify,
+merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/README.md

@@ -0,0 +1,131 @@
+# AWS RoboMaker Small House World ROS package
+
+![Gazebo01](docs/images/gazebo_01.png)
+
+## AWS Robomaker Small House World on Gzweb
+
+![Gzweb01](docs/images/gzweb_aws_house.png)## AWS Robomaker Small House World on Gzweb
+
+**Visit the [AWS RoboMaker website](https://aws.amazon.com/robomaker/) to learn more about building intelligent robotic applications with Amazon Web Services.**
+
+# Include the world from another package
+
+* Update .rosinstall to clone this repository and run `rosws update`
+```
+- git: {local-name: src/aws-robomaker-small-house-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-house-world.git', version: ros1}
+```
+* Add the following to your launch file:
+```xml
+<launch>
+  <!-- Launch World -->
+  <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch"/>
+  ...
+</launch>
+```
+
+# Load directly into Gazebo (without ROS)
+```bash
+export GAZEBO_MODEL_PATH=`pwd`/models
+gazebo worlds/small_house.world
+```
+
+## Example: Running this world on Gazebo headless and running the UI on Gzweb
+*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:
+
+```bash
+cd aws-robomaker-small-house-world
+export GAZEBO_MODEL_PATH=`pwd`/models
+gzserver worlds/small_house.world --verbose
+```
+
+2) In another terminal, setup and run GzWeb
+- Install GzWeb by following the [official documentation](http://gazebosim.org/gzweb#install-collapse-1):
+
+  **Important**:
+  * The recommended NodeJS versions are 4 up to version 8.  
+  * Watch out for [conflicting installations of Node/NodeJS](https://askubuntu.com/questions/695155/node-nodejs-have-different-version)
+  * See [Troubleshooting section](http://gazebosim.org/gzweb#install-collapse-3) for other issues
+
+- Deploy GzWeb
+    - export Gazebo model path and run the deploy script with `-m local`
+
+    ```bash
+    cd aws-robomaker-small-house-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
+    ```
+*Note: For Portrait Images put the required images mentioned in each visual.DAE file to each materials/textures folder because gzweb could only use the assets mentioned in gzweb/http/client/assets folder for each model.* 
+
+# ROS Launch with Gazebo viewer (without a robot)
+```bash
+# build for ROS
+rosdep install --from-paths . --ignore-src -r -y
+colcon build
+
+# run in ROS
+source install/setup.sh
+roslaunch aws_robomaker_small_house_world view_small_house.launch
+```
+
+# Building
+Include this as a .rosinstall dependency in your SampleApplication simulation workspace. `colcon build` will build this repository.
+
+To build it outside an application, note there is no robot workspace. It is a simulation workspace only.
+
+```bash
+$ rosws update
+$ rosdep install --from-paths . --ignore-src -r -y
+$ colcon build
+```
+
+# How to Replace Photos in Picture Frames
+
+Picture frames use two textures for the model:
+ - `aws_portraitA_01.png` - Frame texture
+ - `aws_portraitA_02.png` - Picture texture
+
+To change a picture, one has to replace the `aws_portraitA_02.png` file. The new image will look best with same aspect ratio as the replaced image.
+
+Below is a table showing portrait type to picture resolution data and custom images from photos/.
+
+| Portrait Model | Resolution | Photo |
+| --- | --- | --- |
+| DeskPortraitA_01 | 650x1024 | |
+| DeskPortraitA_02 | 650x1024 | doug |
+| DeskPortraitB_01 | 650x1024 | |
+| DeskPortraitB_02 | 650x1024 | |
+| DeskPortraitC_01 | 1024x1024 | |
+| DeskPortraitC_02 | 1024x1024 | |
+| DeskPortraitD_01 | 1024x1024 | |
+| DeskPortraitD_02 | 1024x1024 | |
+| DeskPortraitD_03 | 1024x1024 | |
+| DeskPortraitD_04 | 1024x1024 | ray |
+| PortraitA_01 | 700x1024 | tim |
+| PortraitA_02 | 700x1024 | anamika |
+| PortraitB_01 | 700x1024 | renato |
+| PortraitB_02 | 700x1024 | brandon |
+| PortraitB_03 | 700x1024 | miaofei |
+| PortraitC_01 | 650x1024 | sean |
+| PortraitD_01 | 1024x450 | |
+| PortraitD_02 | 1024x450 | |
+| PortraitE_01 | 700x1024 | maggie |
+| PortraitE_02 | 700x1024 | iftach |
+
+# Disclaimer
+
+All objects in the scene should be static objects as intended for this sample app.
+If there is a need for some of objects to be non-static, change their 'static' flag in the world file to 'false', 
+and make sure they have correct mass and inertia values in their model.sdf
+Link: http://gazebosim.org/tutorials?tut=inertia&cat=build_robot
+
+Currently, objects in scene have inconsistent mass and inertia values, they will be fixed in the future change.
+Inconsistent mass and inertia should not affect static object simulation.
+
+

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/launch/small_house.launch

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+<launch>
+  <!-- Always set GUI to false for AWS RoboMaker Simulation
+       Use gui:=true on roslaunch command-line to run with a gui.
+  -->
+  <arg name="gui" default="false"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find aws_robomaker_small_house_world)/worlds/small_house.world"/>
+    <arg name="paused" default="false"/>
+    <arg name="use_sim_time" default="true"/>
+    <arg name="gui" default="$(arg gui)"/>
+    <arg name="headless" default="false"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="true"/>
+  </include>
+</launch>

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/launch/view_small_house.launch

@@ -0,0 +1,6 @@
+<launch>
+  <!-- Show Gazebo GUI on launch -->
+  <include file="$(find aws_robomaker_small_house_world)/launch/small_house.launch">
+    <arg name="gui" value="true"/>
+  </include>
+</launch>

sim_fpga/paper-FPGA_Robotics-sim-FPGA/paper_ros_ws/aws-robomaker-small-house-world-ros1/maps/turtlebot3_waffle_pi/map.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+resolution: 0.050000
+origin: [-12.500000, -12.500000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+