Continuous Integration pipeline for ROS-based application using AWS Robomaker

This paper presents the implementation of Continuous Integration CI pipeline for Robotic Operating System (ROS) based software application using Amazon Web Services (AWS) CodePipeline and AWS RoboMaker. The simulation platform is designed by integrating the ROS application with AWS RoboMaker to simulate the application using Turtlebot3 as reference software using Gazebo as the simulation platform. The pipeline is setup using AWS CodePipeline with GitHub as software source for the ROS application and integrated with AWS RoboMaker to implement the CI pipeline for automatic testing and integration of the incoming software commits. A custom test case is defined and used to validate the efficiency of the software during the testing phase of the pipeline. The test case validates the rotation feature of the turtlebot. The implementation includes creating a robot app and simulation app in RoboMaker using Docker to containerize the Turtlebot3 ROS app to the Elastic Container Registry (ECR) and source the robot app from it. The paper also discusses the steps involved in setting up the pipeline, integrating the ROS application with RoboMaker, and integrating the CodePipeline with RoboMaker. The results show that the pipeline provides an efficient way to test and validate the ROS application before deployment, ensuring a high-quality product.