ways to communicate between a ROS node ( or general process ) and a greengrass component

Question

Environment : Ubuntu 20.04, ROS 2

We have a ROS node that would like to be able to communicate with a greengrass component locally.  The ros node would be the initiator to send certain messages to the greengrass component. The greengrass component only reply back `SUCCESS` or `FAIL` (or exit code)

What I have found is to use [AWS IOT Device SDK](https://docs.aws.amazon.com/greengrass/v2/developerguide/interprocess-communication.html#ipc-requirements). But it seems like it's for communicating between custom components and our ROS node is not a component.

I was thinking about the polling a file from the local file system periodically ( to detect messages sent from a ROS node ) but that doesn't look ideal.

The intuition of having a greengrass component in the background is to have a service to push/pull files to/from AWS S3 bucket and we want it to be able to perform operations even when ROS is being killed.

Is there a best way to communicate between a ROS node ( or a general process ) and a greengrass component?

Answer

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/.

Answer

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

ways to communicate between a ROS node ( or general process ) and a greengrass component

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