FogROS2-SGC is a cloud robotics platform for connecting disjoint ROS2 networks across different physical locations, networks, and Data Distribution Services.
Table of Contents
If you want to get a taste of FogROS2 SGC without setting up the environment, just run
docker compose build && docker compose up
with docker (install) and docker compose (install).
It takes some time to build. You will see two docker containers running talker and listener are connected securely with FogROS2-SGC.
The following are instructions of building FogROS2 SGC.
sudo apt update
sudo apt install build-essential curl pkg-config libssl-dev protobuf-compiler clang
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -y
source "$HOME/.cargo/env"
ROS2 Dashing Eloquent Foxy Galactic Humble Rolling should work fine with FogROS2 SGC.
Here we show the instruction of installing ROS2 rolling with Debian packages.
First, install ROS2 from binaries with these instructions.
Setup your environment with these instructions.
Every terminal should be configured with
source /opt/ros/rolling/setup.bash
If you have custom types in a specific ROS colcon directory, source the setup.bash in that directory.
The repo is built with
cargo build
If you want to deploy with production system, use cargo build --release option for optimization level and removal of debug logs.
In the example, we use two machines to show talker (machine A) and listener (machine B) example.
The certificates can be generated by
cd scripts
./generate_crypto.sh
Every directory in ./scripts/crypto contains the cryptographic secrets needed for communication.
Distribute the crypto directory by from machine A and machine B. Here is an example with scp:
scp -r crypto USER@MACHINE_B_IP_ADDR:/SGC_PATH/scripts/
replace USER, MACHINE_B_IP_ADDR, SGC_PATH with the actual paths.
After the crypto secrets are delivered, go back to project main directory.
Now run talker and listener on ROS2. Machine A:
ros2 run demo_nodes_cpp talker
and Machine B
ros2 run demo_nodes_cpp listener
The listener may not get messages from Machine A. If they are in the same local network/machine, SGC is not needed.
Run FogROS2-SGC routers on the root project directory. On the machine A
export SGC_CONFIG=talker.toml
cargo run router
On the machine B
export SGC_CONFIG=listener.toml
cargo run router
The talker and listener toml configuration file can be found here. The configuration is currently coded with a Berkeley's signaling server that facilitates the routing inforamtion exchange. See Making your own signaling server section for creating your own signaling server. The system should also work if you don't specify the configuration file, then it uses automatic mode that constantly checking for new topics. We note that it is only a convenient interface and not FogROS2-SGC is designed for. As long as the talker and listener use the same crypto, the system should work.
To disable the logs and run with high optimization, run with release option by
cargo run --release router
instead.
The updated configuration file format can be found here, which we removed all the setup about protocols, ports, ips and gateways. Only one change on the signaling server field signaling_server_address = "ws://128.32.37.42:8000" is required to the old config file. The default signaling server is provided by Berkeley, but feel free to make your own server by the following instructions.
(Note: remember to migrate the credentials from ./scripts to the new repo as well!)
The FogROS2-SGC carries a bag of protocols to support heterogenous demands and requirements. In this version, we streamline the routing setup by webrtc instead of building all protocols with raw DTLS sockets. webrtc is generally not compatible with the previous protocol. As a result, we make a lite version with only webrtc version.
The simplest routing infrastructure consists a signaling server and a routing information base(RIB). This can be done by running
docker compose up -d signal rib
The only requirement is to expose port 8000 and 8002 to other robots/machines.
Signaling server faciliates the communication by exchanging the address information of webrtc. The details about how signaling server works can be found HERE.
Berkeley's public servers are for experimental purposes and do not intend to be used for production system. We do not provide any guarantee on avaialbility. Please use your own signaling server for benchmarking and deployment. The security guarnatees of FogROS2-SGC prevents other users/Berkeley from learning sensitive information, such as your ROS2 topic name and type, and on the actual data payload. What is visible is a random 256 bit name are published and subscribed by other random 256 bit names.
We have some unpublished code [https://github.com/KeplerC/fogros2-ls] which has a ROS node that launches SGC. We will port the code soon!
- expiration time for stale keys (this may happen if the subscriber suddenly drops off and does not connect to an existing publisher)
- in some rare cases, the IP address and port provided cannot connect, which blocks the publisher and subscriber. I noticed this only when running docker's talker on the edge and docker's listener on the cloud. (it works fine even if one of them is native) This happens periocially and sometime it just works. I don't know why. My hypothesis is some NAT issues with docker engine.