The aws_iot_mqtt_bridge
package contains configuration and launch files to integrate a robot running ROS with AWS IoT by using the mqtt_bridge
package. The mqtt_bridge acts a bridge between ROS systems and servers running the MQTT protocol. For more information please visit the mqtt_bridge repository.
AWS IoT Core Summary: AWS IoT provides secure, bi-directional communication between Internet-connected devices such as sensors, actuators, embedded micro-controllers, or smart appliances and the AWS Cloud. This enables you to collect telemetry data from multiple devices, and store and analyze the data. You can also create applications that enable your users to control these devices from their phones or tablets.
Features in Active Development:
- Use the built-in X.509 certificate as the unique device identity to authenticate AWS requests using the ROS AWS cloud service integrations, for more information, please visit authorizating direct AWS calls
Keywords: ROS IoT Core, mqtt, ROS bridge, mqtt_bridge
The source code is released under an Apache 2.0.
Author: AWS RoboMaker
Affiliation: Amazon Web Services (AWS)
Maintainer: AWS RoboMaker, [email protected]
- Kinetic
You will need to create an AWS Account and configure the credentials to be able to communicate with AWS services. You may find [AWS Configuration and Credential Files] helpful. In addition to AWS credentials to communicate with AWS IoT, you will need to generate an X.509 certificate in order to identify your robot to AWS IoT Core. For more information, please visit managing device certificates.
To build from source you'll need to create a new workspace, clone and checkout the latest release branch of this repository, install all the dependencies, and compile. If you need the latest development features you can clone from the master
branch instead of the latest release branch. While we guarantee the release branches are stable, the master
should be considered to have an unstable build due to ongoing development.
-
Create a ROS workspace and a source directory
mkdir -p ~/ros-workspace/src
-
Clone the package into the source directory .
Note: Replace {MAJOR.VERSION}
below with the latest major version number to get the latest release branch.
cd ~/ros-workspace/src
git clone https://github.com/aws-robotics/aws-iot-bridge-example.git -b release-v{MAJOR.VERSION}
-
Install dependencies
cd ~/ros-workspace sudo apt-get update && rosdep update rosdep install --from-paths src --ignore-src -r -y
Note: If building the master branch instead of a release branch you may need to also checkout and build the master branches of the packages this package depends on.
-
Build the packages
cd ~/ros-workspace && colcon build
-
Configure ROS library Path
source ~/ros-workspace/install/setup.bash
An example launch file called aws_iot_bridge.launch
is provided, however the launch file cannot work without proper configuration. Since AWS IoT uses unique endpoints and certificates for each account and device, you must first discover your AWS IoT endpoint and generate a certificate before you can connect.
-
With launch file using parameters in .yaml format (need to be configured first)
- ROS:
roslaunch aws_iot_mqtt_bridge aws_iot_bridge.launch bridge_params:=<path>/config/example_aws_iot_params.yaml
- ROS:
-
Without launch file using default values
- ROS:
rosrun mqtt_bridge mqtt_bridge_node.py
- ROS:
- Go to your AWS account
- Find AWS IoT Core
- On the upper right corner, change region to
Oregon
if you launched the node using the launch file, or change toN. Virginia
if you launched the node without using the launch file - Select
Test
from the menu on the left side of the screen - Type the name of one of the configured topics and click
Subscribe to topic
- You should see messages begin appearing in the bottom half of the screen
An example configuration file called example_aws_iot_params.yaml
is provided. When the parameters are absent in the ROS parameter server, the mqtt_bridge will use defaults, please refer to the mqtt_bridge package.
Parameter Name | Description | Type | Allowed Values |
---|---|---|---|
tls/ca_certs | Path to the Root CA obtained from the AWS site | std::string | Path to valid root CA file |
tls/certfile | Path to the device certificate | std::string | Path to valid certificate file in PEM format |
tls/keyfile | Path to the device private key | std::string | Path to valid private key in PEM format |
tls/tls_version | Protocol version to use when connecting to AWS TLS endpoint (5 is TLS1.2) | int | A valid python TLS protocol |
tls/tls_insecure | Indicator if certificates validation should be disabled, defaults to false | bool | bool |
connection/host | Host name of the AWS endpoint to connect | std::string | A valid DNS name or IP address |
connection/port | Port to use when connecting to AWS IoT core (default is 8883) | int | A valid port number (1-65535) |
connection/keepalive | TCP connection keep-alive | int | Number of seconds greater than zero |
client/protocol | MQTT protocol to use when connecting (default is MQTT311 or 4) | int | Valid protocol number |
Bridges topics between ROS systems and an MQTT server
None by default - mqtt_bridge must be configured to bridge topics to IoT
None by default - mqtt_bridge must be configured to bridge topics to IoT
None
Please contact the team directly if you would like to request a feature.
Please report bugs in Issue Tracker.