Step 4: Create a simulation on AWS RoboMaker

1. Create a simulation application

1. Go back to RoboMaker dashboard
2. Click on Simulation application and press on Create simulation application
3. Give a name (e.g. upbot-sim)
4. Go to sources and add your source path, it should be something like:
   s3://bucket-source/upbot.tar
   NOTE: edit bucket-source with your bucket name
5. Press on Create

2. Create a Simulation Job

1. Click on Simulation Job and then press on Create simulation job
2. Choose how many time your simulation needs (e.g. 15minutes)
3. Choose a robomaker role (e.g. upbot-robomaker)
4. Add a path for logs and bags, it should be something like:
   s3://bucket-output
   NOTE: edit bucket-output with your bucket name
5. Press on Next
6. Select None for robot application and confirm by pressing Next
7. Choose upbot-sim application
8. In launch package name, type: erwhi_gazebo
   and in launch file: erwhi_gazebo.launch
   
9. Press Next
10. Review your simulation job, then press Create
11. Wait for green running label

3. Play with Erwhi in Gazebo

Simply:

• open gazebo with a double-click
• open rviz with a double-click
• in rviz add RobotModel and MapCloud
• using 2D Nav Goal the robot will reach a position
• to run autonomous navigation open terminal with a double-click and type:
  $ roslaunch erwhi_navigation explore.launch