AWS IoT Node

This package is an example of a ROS2 node written in Rust.

It will use X.509 certificates to connect to AWS IoT Core, then forward any ROS2 messages received on /ros2_mock_telemetry_topic up to IoT Core.

Setup

Tool Installation

If you do not have Rust installed, you can easily install it with Rustup:

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh

To be able to build ROS2 Rust, there are some further prerequisites. These steps are taken from the ROS2 Rust repository. Execute the following:

sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
# Install these plugins for cargo and colcon:
cargo install --debug cargo-ament-build  # --debug is faster to install
pip install git+https://github.com/colcon/colcon-cargo.git
pip install git+https://github.com/colcon/colcon-ros-cargo.git

Source Code

You can clone this repository directly into your ROS2 workspace. The workspace can be set up following steps 1 and 2 of this guide.

Inside the src directory, clone this repository, the ROS2 Rust repository, and the AWS IoT Connectivity Samples for ROS2:

cd ~/ros2_ws/src
git clone https://github.com/mikelikesrobots/aws-iot-node-rust.git
git clone https://github.com/ros2-rust/ros2_rust.git
git clone https://github.com/aws-samples/aws-iot-robot-connectivity-samples-ros2.git

ROS2 Rust has further repositories to check out, which can be done automatically using:

cd ~/ros2_ws
vcs import src < src/ros2_rust/ros2_rust_humble.repos

You should now follow the instructions in aws-iot-robot-connectivity-samples-ros2 to generate a valid X.509 certificate with the correct permissions. This sample uses the same permissions as the connectivity sample.

Building the workspace

The workspace can now be built. It takes around 10m to build ROS2 Rust, which should only need to be done once. Following that, changes to the code from this repository can be built very quickly. To build the workspace, execute:

cd ~/ros2_ws
colcon build
source install/setup.bash

# After first build:
colcon build --packages-select aws_iot_node

Now, any changes that are made to this repository can be built and tested with cargo commands, such as:

cargo build
cargo run --bin mock-telemetry

Running

To run the example, you will need the IOT_CONFIG_FILE variable set from the aws-iot-robot-connectivity-samples-ros2 repository.

Open two terminals. In each terminal, source the workspace, then run one of the two nodes as follows:

source ~/ros2_ws/install/setup.bash  # Both terminals
ros2 run aws_iot_node mqtt-telemetry --ros-args --param path_for_config:=$IOT_CONFIG_FILE  # One terminal
ros2 run aws_iot_node mock-telemetry  # Other terminal

You should now see messages appearing in the MQTT test client in AWS IoT Core.