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Accepted
IsaacS
Asked: 2023-02-07 09:59:07 +0800 CST

AWS Robomaker 错误：(AccessDeniedException) 用户：arn:aws:iam ... 无权执行：robomaker:CreateSimulationJob

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meta.stackexchange.com#141944建议可以在这里询问像我这样的“AWS + 个人使用”问题，所以希望我在正确的网站上。

按照AWS Robomaker(aws.amazon.com)的教程，在“使用 AWS RoboMaker 中的容器创建和运行机器人和模拟应用程序”部分的第 6 步中，运行以下命令失败并出现错误（已替换凭据）。

我错过了什么/错了什么？这个AWS账户我基本上是重新创建的，所以没有做太多配置。

$ aws robomaker create-simulation-job --cli-input-json file://create_simulation_job.json

An error occurred (AccessDeniedException) when calling the CreateSimulationJob operation: User: arn:aws:iam::292945459999:user/fname.lname is not authorized to perform: robomaker:CreateSimulationJob on resource: arn:aws:robomaker:us-east-1:292945459999:simulation-application/robomaker-helloworld-sim-app/1675482941456
create_simulation_job.json 的内容

（由于教程中不清楚，我猜测是从Robomaker上的robomaker-helloworld-sim-app模拟应用程序中获取“应用程序”的ARN）

    "maxJobDurationInSeconds": 3600,
    "iamRole": "arn:aws:iam::292945459999:role/RoboMaker-HelloWorld-Role",
    "robotApplications": [
        {
            "application": "arn:aws:robomaker:us-east-1:292945459999:simulation-application/robomaker-helloworld-sim-app/1675482941456",
            "applicationVersion": "$LATEST",
            "launchConfig": {
                "environmentVariables": {
                    "ROS_IP": "ROBOMAKER_ROBOT_APP_IP",
                    "ROS_MASTER_URI": "http://ROBOMAKER_ROBOT_APP_IP:11311",
                    "GAZEBO_MASTER_URI": "http://ROBOMAKER_SIM_APP_IP:11345"
                },
                "streamUI": false,
                "command": [
                    "roslaunch", "hello_world_robot", "rotate.launch"
                ]
            },
            "tools": [
                {
                    "streamUI": true,
                    "name": "robot-terminal",
                    "command": "/entrypoint.sh && xfce4-terminal",
                    "streamOutputToCloudWatch": true,
                    "exitBehavior": "RESTART"
                }
            ]
        }
    ],
    "simulationApplications": [
        {
            "application": "arn:aws:robomaker:us-east-1:292945459999:simulation-application/robomaker-helloworld-sim-app/1675482941456",
            "launchConfig": {
                "environmentVariables": {
                  "ROS_IP": "ROBOMAKER_SIM_APP_IP",
                  "ROS_MASTER_URI": "http://ROBOMAKER_ROBOT_APP_IP:11311",
                  "GAZEBO_MASTER_URI": "http://ROBOMAKER_SIM_APP_IP:11345",
                  "TURTLEBOT3_MODEL":"waffle_pi"
                },
                "streamUI": true,
                "command": [
                    "roslaunch", "hello_world_simulation", "empty_world.launch"
                ]
            },
            "tools": [
                {
                    "streamUI": true,
                    "name": "gzclient",
                    "command": "/entrypoint.sh && gzclient",
                    "streamOutputToCloudWatch": true,
                    "exitBehavior": "RESTART"
                }
            ]
        }
    ]
}

IAM 用户具有以下权限：AdministratorAccess, AWSDeepRacerRoboMakerAccessPolicy, AWSRoboMaker_FullAccess

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 20.04.5 LTS
Release:        20.04
Codename:       focal

$ aws --version
aws-cli/1.27.64 Python/3.8.10 Linux/5.4.0-137-generic botocore/1.29.64
amazon-web-services

1 个回答

  1. Best Answer

    自己解决了。

    我想aws robomaker create-robot-application我忘了在教程 (aws.amazon.com)中运行命令，因为我没有在“Robomaker -> 开发 -> 机器人应用程序”中看到机器人应用程序。所以我首先（重新）运行：

    aws robomaker create-robot-application \
--name $robotapp \
--robot-software-suite name=General \
--environment uri=$ecruri/$robotapp:latest

    然后将文件中的 ARN 替换create_simulation_job.json为 create-robot-application 刚刚返回的那个，运行aws robomaker create-simulation-job命令并且这次它通过了，我在“Robomaker -> Simulation run -> Simulation jobs”上看到了一个模拟作业，正如预期的那样。

    在 OP 的 create_simulation_job.json 中，有一件事显然是错误的：我传递了“sim app”的 ARN，而“robot app”的 ARN 是预期的（尽管错误消息没有说清楚）。

        "robotApplications": [
        {
            "application": "arn:aws:robomaker:us-east-1:292945459999:simulation-application/robomaker-helloworld-sim-app/1675482941456",
    :
    • 1

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