QUICKSTART.md

Install FogROS 2 and ROS 2 from Scratch

This is a quick start guide for installing FogROS 2 (and ROS 2) and its requisites from scratch (e.g., in a VM). New contributors to the project can start here. You can also watch our video tutorials here: part 1 and part 2

1. Install Ubuntu 20.04 or Ubuntu 22.04. See here for a tutorial.

2. Upgrade

sudo apt update
sudo apt upgrade

3. Reboot

reboot

4. Get UTF-8 locale installed

sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

5. Setup sources for ROS 2 (https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html)

sudo apt update
sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

6. Install ROS 2 Packages (https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html)

sudo apt update
sudo apt install ros-rolling-desktop

7. Add env to startup

echo "source /opt/ros/rolling/setup.bash" >> ~/.bashrc
source /opt/ros/rolling/setup.bash

8. Choose and set a ROS_DOMAIN_ID (in range 0 to 101) (https://docs.ros.org/en/rolling/Concepts/About-Domain-ID.html)

export ROS_DOMAIN_ID=99
echo 'export ROS_DOMAIN_ID=99' >> ~/.bashrc

9. Install colcon and git

sudo apt install python3-colcon-common-extensions
sudo apt install git

10. Create a workspace

mkdir -p ~/fog_ws/src

11. Clone

cd ~/fog_ws/src
git clone -b humble https://github.com/BerkeleyAutomation/FogROS2.git
cp FogROS2/fogros2/configs/cyclonedds.ubuntu.$(lsb_release -rs | sed 's/\.//').xml ../cyclonedds.xml

12. Build

#If you see a warning like this, you are fine “On Ubuntu 22.04 this may generate deprecation warnings.  These may be ignored.”
cd ~/fog_ws
colcon build

13. Install AWS CLI

sudo apt install awscli

14. Configure AWS Basic Settings. To run the next command, you need to have your security credentials, an output format and AWS Region.

aws configure

15. Install additional dependencies

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

16. If using Ubuntu 22.04

sudo apt install ros-rolling-rmw-cyclonedds-cpp

17. Run basic example. Note that the last command may take some time to complete especially the first time it is run. If your setup is correct, you should see the talker node publishing.

cd ~/fog_ws
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

18. You are done. Refer to our README for additional information including Command Line Interface commands, which allow you do a lot with your cloud instances from the command line, and Docker installation.

Next we’ll terminate the demo by typing CTRL-C twice. The first one terminates the robot node, the second one terminates the cloud node.

We can see the cloud computer that FogROS 2 launched for us using the FogROS command-line interface or CLI. “Ros2 fog list” shows that we have one running instance with the name XXX. Finally, we terminate the instance so that we are no longer being charged for it by running “ros2 fog delete XXX”. You can verify that it is being deleted and by running “ros2 fog list” again. Observe the “status shutting down” line. After a short while, running ros2 fog list will show nothing, indicating that the instance is terminated and you are no longer being charged.

Typing CTRL-C kills the local instance (e.g., listener) the first time and then the cloud instance the second time

#To see the name of a FogROS2 instance
ros2 fog list

#To delete a FogROS2 instance
ros2 fog delete [name]