FogROS2

FogROS2 extends ROS 2 [1] for cloud deployment of computational graphs in a security-conscious manner. It allows researchers to easily and securely deploy ROS abstractions across cloud providers with minimal effort, thus gaining access to additional computing substrates including CPU cores, GPUs, FPGAs, or TPUs, as well as pre-deployed software made available by other researchers. To do so, FogROS2 extends the ROS 2 launch system, introducing additional syntax to allow roboticists to specify at launch time which components of their architecture will be deployed to the cloud and which components will be deployed on the edge.

• FogROS2
  • Install
    • Quickstart
    • Docker (Recommended)
    • Natively
      • Install Dependencies
  • Launch ROS 2 computational graphs in the cloud
    • Docker (Recommended)
    • Native
  • Run your own robotics applications
  • Setting Up Automatic Image Transport
  • Command Line Interface
  • Some Common Issues
  • Running Examples:

Install

Quickstart

If you are new to ROS and Ubuntu, and want to install FogROS 2 (and ROS 2) and its requisites from scratch, follow instructions here.

Docker (Recommended)

Alternatively, you can simplify reproduction using an OS virtualization environment with Docker. You can also watch our video tutorial here.

git clone -b humble https://github.com/BerkeleyAutomation/FogROS2
cd FogROS2

# Install AWS CLI
sudo apt install awscli

# Configure AWS Basic Settings. To run the next command, you need to have your security credentials, an output format and AWS Region. See https://docs.aws.amazon.com/cli/latest/userguide/cli-configure-quickstart.html
aws configure

#Build Docker Image
docker build -t fogros2 .

By default, this command will build a docker image for ROS Rolling and Ubuntu 22.04 (jammy). These defaults can be changed using the --build-arg flag (e.g., docker build -t fogros2:focal-humble . --build-arg UBUNTU_DISTRO=focal --build-arg ROS_DISTRO=humble will build a ROS Humble image with Ubuntu 20.04 (focal)). Note: the Dockerfile is cooked for x86_64. If you’re using a workstation with an Arm-based architecture (e.g. an M1), build the container with the docker build --platform linux/amd64 -t fogros2 ..

Natively

FogROS2 is actually a ROS meta-package, so you can just fetch it in your workspace, build it, source the workspace as an overlay and start using its capabilities. You can also watch our video tutorial here.

Install Dependencies

ROS 2 dependencies:

# If using Ubuntu 22.04
sudo apt install ros-rolling-rmw-cyclonedds-cpp

FogROS 2 dependencies:

sudo apt install python3-pip wireguard unzip
sudo pip3 install wgconfig boto3 paramiko scp

# Install AWS CLI
sudo apt install awscli

# Configure AWS Basic Settings. To run the next command, you need to have your security credentials, an output format and AWS Region. See https://docs.aws.amazon.com/cli/latest/userguide/cli-configure-quickstart.html
aws configure

source /opt/ros/<your-ros2-distro>/setup.bash
mkdir -p ~/fog_ws/src
cd ~/fog_ws/src
git clone -b humble https://github.com/BerkeleyAutomation/FogROS2
cd ../
colcon build  # re-build the workspace
source install/setup.bash

Launch ROS 2 computational graphs in the cloud

Docker (Recommended)

You can see this in our video tutorial here

# launch fogros2 container
docker run -it --rm --net=host -v $HOME/.aws:/root/.aws --cap-add=NET_ADMIN fogros2

# launch talker node on the cloud
ros2 launch fogros2_examples talker.aws.launch.py

(Note: the Dockerfile is cooked for x86_64. If you’re using a workstation with an Arm-based architecture (e.g. an M1), run the container with the docker run -it --platform linux/amd64 --rm --net=host --cap-add=NET_ADMIN fogros2.)

Native

Note: These commands must be run from the root of your ROS workspace. You can see this in our video tutorial here.

source /opt/ros/<your-ros2-distro>/setup.bash
source install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp 
export CYCLONEDDS_URI=file://$(pwd)/install/fogros2/share/fogros2/configs/cyclonedds.ubuntu.$(lsb_release -rs | sed 's/\.//').xml

ros2 launch fogros2_examples talker.aws.launch.py

File truncated at 100 lines see the full file

Changelog for package fogros2

0.1.7 (2022-07-11)

• temporarily removing awscli as dependency due to regression

0.1.6 (2022-06-29)

• added wgconfig and wireguard as dependencies

0.1.5 (2022-06-08)

• added dependencies to package.xml to reduce those that are manually downloaded

0.1.4 (2022-05-15)

• fixed QUICKSTART.md documentation and removed unnecessary dependencies
• prepared package.xml with list of authors and maintainers for release
• changed environment variable checks from asserts to exceptions
• cleaned up README.md

0.1.3 (2022-05-09)

• readded human readable instance name generation
• added checks and interterpretable feedback for client errors
• added environment variable checks
• updated documentation to include new potential issues and remove unnecessary instructions
• fixed colcon warning message about arg parsing in the cloud instance

0.1.2 (2022-05-02)

• removed unique name generator and fixed package.xml

0.1.1 (2022-05-02)

• updates CLI to use AWS APIs to interface with running instances
• adds support for Ubuntu 20.04 and 22.04
• decouples the launch file and only include the inherited launch
• adds local peer to fix the DDS node discovery
• changes cloud containers to use wg interface
• adds lock to protect cloud instance ready state
• first public release for Humble