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AWS RoboMaker Small Warehouse World


AWS Robomaker Small Warehouse World on Gzweb


This Gazebo world is well suited for organizations who are building and testing robot applications for warehouse and logistics use cases.

3D Models included in this Gazebo World

Model (/models) Picture
aws_robomaker_warehouse_Bucket_01 Model: Buckets
aws_robomaker_warehouse_ClutteringA_01, aws_robomaker_warehouse_ClutteringC_01, aws_robomaker_warehouse_ClutteringD_01 Model: Box Clusters
aws_robomaker_warehouse_DeskC_01 Model: Desk
aws_robomaker_warehouse_GroundB_01 Model: Ground Paint
aws_robomaker_warehouse_TrashCanC_01 Model: Humans
aws_robomaker_warehouse_Lamp_01 Model: Ceiling Lamp
aws_robomaker_warehouse_PalletJackB_01 Model: Pallet Jack
aws_robomaker_warehouse_ShelfD_01, aws_robomaker_warehouse_ShelfE_01, aws_robomaker_warehouse_ShelfF_01 Model: Pallet Jack

Building and Launching the Gazebo World with your ROS Applications

  • Create or update a .rosinstall file in the root directory of your ROS workspace. Add the following line to .rosintall:

    - git: {local-name: src/aws-robomaker-small-warehouse-world, uri: '', version: master}
  • Change the directory to your ROS workspace and run rosws update

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

    <!-- Launch World -->
    <include file="$(find aws_robomaker_small_warehouse_world)/launch/small_warehouse.launch"/>
  • Build your application using colcon

    rosws update
    rosdep install --from-paths . --ignore-src -r -y
    colcon build

Example: Running this world directly in Gazebo without a ROS application

To open this world in Gazebo, change the directory to your ROS workspace root folder and run:

cd aws-robomaker-small-warehouse-world
export GAZEBO_MODEL_PATH=`pwd`/models
gazebo worlds/

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:
cd aws-robomaker-small-warehouse-world
export GAZEBO_MODEL_PATH=`pwd`/models
gzserver worlds/
  1. In another terminal, setup and run GzWeb
  • Install GzWeb by following the official documentation:


  • Deploy GzWeb

    • Approach 1: Copy all the Gazebo models from small-warehouse world to gzweb/http/client/assets/, and run the deploy script
    cp -r ~/aws-robomaker-small-warehouse-world/models/. ~/gzweb/http/client/assets
    cd ~/gzweb
    export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine
    npm run deploy
    npm start
    • Approach 2: without copying the Gazebo models, export Gazebo model path and run the deploy script with -m local
    cd aws-robomaker-small-warehouse-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

Example: Running this world directly using ROS without a simulated robot

To launch this base Gazebo world without a robot, clone this repository and run the following commands. Note: ROS and gazebo must already be installed on the host.

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

# run in ROS
source install/
roslaunch aws_robomaker_small_warehouse_world view_small_warehouse.launch

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


  • Lighting might vary on different system(s) (e.g brighter on system without CPU and darker on system with GPU)
  • Adjust lighting parameters in .world file as you need

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