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Hi Debo. I agree with Joe's answer, if you kept it external. This blog is helpful: https://aws.amazon.com/blogs/iot/implementing-local-client-devices-with-aws-iot-greengrass/.
However, have you considered running your ROS node within Greengrass? You could compose and manage your entire application using Greengrass. I think this fresh blog could be of interest to you. It features a component that bridges ROS topics with Greengrass IPC: https://aws.amazon.com/blogs/robotics/deploy-and-manage-ros-robots-with-aws-iot-greengrass-2-0-and-docker/.
Hi Debo -
The supported method would be to model your ROS process as a client device and connect to Greengrass via MQTT.
https://docs.aws.amazon.com/greengrass/v2/developerguide/connect-client-devices.html
Thanks, -joe
While this is a possibility, it is more applicable in case the ROS nodes are running on a separate machine and already implement MQTT as a communication mechanism. ROS 2 has its own distributed messaging protocol and using a ROS to IPC bridge component is the least intrusive way to support this type of integration.
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As mentioned by @Greg_B, I would recommend to use a the ROS to IPC bridge component as this will enable the ROS node to exchange messages with a Greengrass component by publishing on a ROS topic.