# AWS Sample Applications for the Waveshare JetBot
![Waveshare JetBot](/images/jetbot-aws.jpg)

A collection of ROS sample applications for the Waveshare JetBot to run in AWS RoboMaker. This repository includes the following sample applications:

- **Line Following:** This simple navigation application parses frames from the camera feed using OpenCV and instructs the Jetbot to follow a line.
- **SLAM and GMapping:** This sample application will run move_base, gmapping and SLAM - enabling you to generate maps using AWS provided open source 3D worlds.
- **Simple Motion:** This sample application performs basic rotation and forward motion commands.

## Setup

To run these sample applications, you can use the AWS RoboMaker IDE. For a full description on how to setup and get started with the virtual deskop feature in AWS RoboMaker, [See our blog](https://aws.amazon.com/blogs/robotics/aws-announces-a-new-developer-desktop-feature-within-the-aws-robomaker-ide/).

1. Open AWS RoboMaker in the AWS console. Click on *Development Environments*.
2. Click *Create Development environment*. It will take a few minutes to provision your IDE. Once provisioned, it will open a new window.
3. In the terminal of the IDE (bottom pane), run the following commands:

    ```bash
        cd ~/environment
        git clone https://github.com/aws-samples/aws-robomaker-jetbot-ros
        cd aws-robomaker-jetbot-ros
        chmod +x ./setup.sh
        ./setup.sh
    ```

## Build (and modify) the sample applications using the AWS RoboMaker IDE.  

The sample applications in this repository can be run on a Gazebo simulation.

1. Open a **Virtual Desktop** by clicking the virtual desktop button in the top navigation tool bar. This will open a pop-up window, if you are prompted, allow your browser to open the pop-up window.
2. Move the new window adjacent to your IDE browser window. In the terminal of the IDE, set the display to the virtual desktop:

    ```bash
    export DISPLAY=:0
    ```

3. Next, we will build the ROS application to run in simulation. **Note: every time you make a code change to the ROS packages in this sample repository, you will need to run this command to re-build the application.**

    ```bash
    cd ~/environment/aws-robomaker-jetbot-ros
    colcon build
    ```

## Running the sample applications

Now that the ROS application is built, we can source the application and run the simulation. To run the sample applications, simply source the built workspace then invoke the **roslaunch** file. Below are the three sample applications you can run.

To start, ensure you are in the base workspace directory and the application has been sourced.

```bash
cd ~/environment/aws-robomaker-jetbot-ros
source install/setup.sh
```

1. In the first sample application, the Jetbot will perform a simple motion task. It will move 1 m forward, rotate 180 degrees in place, then will move another 1 m forward.

    ```bash
    roslaunch simple_motion simple_motion_sim.launch
    ```

2. In the next sample application, the Jetbot will navigate around a simple track by following a line.

    ```bash
    roslaunch line_following line_following_sim.launch
    ```

2. In the final sample, we will run a SLAM and gmapping demo. There are three worlds to choose from; `small_house`, `bookstore` and `small_warehouse`. Simply update the `world:=<world>` paramater with the world you would like to use!

    ```bash
    roslaunch slam_demo explore_world.launch world:=bookstore
    ```

**Congratulations!!** The simulation should now be running. To run another application, look through the **aws_example_apps** folder. In each example app, there is a launch folder with launch files you can run using the command structure above.

![Waveshare JetBot with a Lidar](/images/jetbot-lidar.jpg)

## Deploy and run with an NVidia Jetbot Kit

Coming Soon!