Robot Control using Raspberry Pi

Lecture 2 - AWS Academy Robomaker

Li Bai
lbai@temple.edu

Temple University

September 9, 2023

Mangdang

A quadruped robot dog originated from a stanford project click here

  • software development is done using AWS Robomaker and AWS Cloud 9
    • Virtualization, Docker, Linux, Python 3
    • Robot Operating System (ROS) and Gazebo
  • ReInvent Workshop 2022 for Dance Robot (Gan and Hansen 2022)

AWS RoboMaker Workflow

Note

  • Simulation in Robomaker (or DCV) using Gazebo (simulation_ws)
  • Deployment using IoT Greengrass 2.0 (robot_ws)
  • Docker container registry (contain OS integrity)
  • Cloud storage (S3 - Simple Storage Services)

Credit from Building Cloud Connected Robots (Robots 2021)

AWS Greengrass Deployment Process

Note

  • container can run a complete different OS than robot OS (x86 and arm64)
  • container deployed from AWS ECR
  • message call from MQTT bridge

Github

  • What is a Github?

  • How to signup a Github account

    Github Signup

  • How to create a repository and document in README.md

  • How to clone a repository

https://github.com/ros2/demos/tree/foxy

Add your name in the msg (line 46) - will be used later classes

https://github.com/ros2/demos/blob/foxy/demo_nodes_cpp/src/topics/talker.cpp

MinPupper AWS

  • using Robomaker (minimum access in terminals - long setup time, but more computing process)
  • using DCV (multiple terminal windows - short setup time)

MiniPupper AWS Dancing Robot

Note

Follow the instruction on Github(Gan and Bai 2022)

git clone -b ros2 http://github.com/lbaitemple/mini-pupper-aws
  • A Cloud 9 Approach
  • c4.xlarge (7.5vPU and 4GB)
  • A Robomaker approach using AWS Docker Container Registry
  • 15 vCPU core

MiniPupper AWS Dancing Robot

  • Cloud 9 terminal
  • copy and past one line at a time
cd mini-pupper-aws/simulation_ws
cd src && vcs import < .minipupper.repos --recursive && cd ..
pip install Inject==3.5.4 setuptools==58.2.0
sudo apt install python3-rosdep2 -y
rosdep update
rosdep install --from src -i -y  --skip-keys=ecl_threads
colcon build
  • Cloud 9 terminal using the following commands
cd mini-pupper-aws
docker build . -t mini-pupper-base:2.0 -f Dockerfile-Base
docker build . -t mini-pupper-simulation:2.0 -f Dockerfile-Simulation

MiniPupper AWS Dancing Robot

  • Open three Cloud 9 terminals and run the following command in each terminal
export DISPLAY=:0
bash ../scripts/simulation-entrypoint.sh
  • easy way then use AWS ECR on AWS console (mini-pupper-simulation)
aws ecr create-repository --repository-name mini-pupper-simulation | grep repositoryUri
  • skip step 2, and remove latest with 2.0, and replace 169615523284 with your account number
docker tag mini-pupper-simulation:2.0 169615523284.dkr.ecr.us-east-1.amazonaws.com/mini-pupper-simulation:2.0
docker push 169615523284.dkr.ecr.us-east-1.amazonaws.com/mini-pupper-simulation:2.0

MiniPupper AWS Dancing Robot

  • Cloud 9 terminal 1
source ./install/setup.bash
ros2 launch mini_pupper_gazebo gazebo.launch.py rviz:=false
  • Cloud 9 terminal 2
sudo apt-get install -y ros-humble-teleop-twist-keyboard

  • Go to AWS Robomaker in AWS console

  • Go to robomaker setup click here

  • setup simulation job using the robot application and simualtion application from AWS ECR docker instances

GAZEBO_MASTER_URI=http://ROBOMAKER_SIM_APP_IP:11345
ROS_IP=ROBOMAKER_SIM_APP_IP
ROS_MASTER_URI=http://ROBOMAKER_ROBOT_APP_IP:11311
  • Add tool window, set Name to xterm, and Command to /usr/bin/xterm

MiniPupper AWS Dancing Robot

  • Cloud 9 terminal 3
source /opt/ros/humble/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard
  • check the dog in the move
  • open simulation job
  • open xterm app
./move.sh

In robomaker, move.sh is to run “ros2 run teleop_twist_keyboard teleop_twist_keyboard”

DCV Gazebo

DCV Gazebo - Move Minipuuer

Robomaker Setup

Robomaker Setup Applications

- give a name mini-pupper-simulation-app

Robomaker Setup Simulation Application

Robomaker Simulation Application Options

ros2, launch, mini_pupper_gazebo, gazebo.launch.py, rviz:=false

GAZEBO_MASTER_URI
http://ROBOMAKER_SIM_APP_IP:11345
ROS_IP
ROBOMAKER_SIM_APP_IP
ROS_MASTER_URI
http://ROBOMAKER_ROBOT_APP_IP:11311

Robomaker Simulation Add tools

/usr/bin/xterm

Robomaker Simulation Application Options

AWS Robomaker Excercise*

  • Create a new cloud 9 instance
  • Follow the steps in the readme.MD file or “Activity 2” in workshop(Gan and Hansen 2022)
  • setup three melodic docker instances as described
  • setup the simulation as shown in the processs
  • show to find out the docker image
  • show where is the docker image store in ECR?
  • show the robot dog moves

When you submit a report, please include the corrected procedures and give the screen shots based on the checkoff.

Preparation for next week’s class


click here


click here

References

Gan, Afreez, and Li Bai. 2022. “MiniPupper AWS - ROS1.” 2022. https://github.com/lbaitemple/mini-pupper-aws.
Gan, Afreez, and Matt Hansen. 2022. “Dance of the Cloud Connected Robots.” 2022. https://catalog.us-east-1.prod.workshops.aws/workshops/511d7599-73bd-4142-bd6b-fa83dbe3d8ce/en-US.
Robots, Building Cloud Connected. 2021. “Building Cloud Connected Robots.” 2021. https://catalog.us-east-1.prod.workshops.aws/workshops/fa208b8e-83d6-4cc1-8356-bfa5b6184fae/en-US.

Li Bai