AWS RoboMaker Hospital World ROS package

Visit the AWS RoboMaker website to learn more about building intelligent robotic applications with Amazon Web Services.

Supported versions of Gazebo

7.14.0+ | 9.16.0+

Note: python3 and python3-pip is required to run this world.

3D Models included in this Gazebo World

Model (/models)	Picture
aws_robomaker_hospital_elevator_01_car, aws_robomaker_hospital_elevator_01_door, aws_robomaker_hospital_elevator_01_portal
aws_robomaker_hospital_curtain_closed_01, aws_robomaker_hospital_curtain_half_open_01, aws_robomaker_hospital_curtain_open_01
aws_robomaker_hospital_nursesstation_01
aws_robomaker_hospital_hospitalsign_01
aws_robomaker_hospital_floor_01_floor
aws_robomaker_hospital_floor_01_walls
aws_robomaker_hospital_floor_01_ceiling

We also reference the following models from https://app.ignitionrobotics.org/fuel/models:

XRayMachine, IVStand, BloodPressureMonitor, BPCart, BMWCart, CGMClassic, StorageRack, Chair, InstrumentCart1, Scrubs, PatientWheelChair, WhiteChipChair, TrolleyBed, SurgicalTrolley, PotatoChipChair, VisitorKidSit, FemaleVisitorSit, AdjTable, MopCart3, MaleVisitorSit, Drawer, OfficeChairBlack, ElderLadyPatient, ElderMalePatient, InstrumentCart2, MetalCabinet, BedTable, BedsideTable, AnesthesiaMachine, TrolleyBedPatient, Shower, SurgicalTrolleyMed, StorageRackCovered, KitchenSink, Toilet, VendingMachine, ParkingTrolleyMin, PatientFSit, MaleVisitorOnPhone, FemaleVisitor, MalePatientBed, StorageRackCoverOpen, ParkingTrolleyMax

Include the world from another package

• Update .rosinstall to clone this repository and run rosws update

- git: {local-name: src/aws-robomaker-hospital-world, uri: 'https://github.com/aws-robotics/aws-robomaker-hospital-world.git', version: ros2}

• Add the following to your launch file:
• Add the following include to the ROS2 launch file you are using:

    import os
    from ament_index_python.packages import get_package_share_directory
    from launch import LaunchDescription
    from launch.actions import IncludeLaunchDescription
    from launch.launch_description_sources import PythonLaunchDescriptionSource
    def generate_launch_description():
        hospital_pkg_dir = get_package_share_directory('aws_robomaker_hospital_world')
        hospital_launch_path = os.path.join(warehouse_pkg_dir, 'launch')
        hospital_world_cmd = IncludeLaunchDescription(
            PythonLaunchDescriptionSource([hospital_launch_path, '/hospital.launch.py'])
        )
        ld = LaunchDescription()
        ld.add_action(hospital_world_cmd)
        return ld

Load directly into Gazebo (without ROS2)

chmod +x setup.sh
./setup.sh
export GAZEBO_MODEL_PATH=`pwd`/models:`pwd`/fuel_models
gazebo worlds/hospital.world

ROS2 Launch with Gazebo viewer (without a robot)

# build for ROS2
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS2
source install/setup.sh
ros2 launch aws_robomaker_hospital_world view_hospital.launch.py

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.

$ rosws update
$ rosdep install --from-paths . --ignore-src -r -y
$ chmod +x setup.sh
$ ./setup.sh
$ colcon build