FogROS2-FT: Fault Tolerance

This is a meta package that sets up FogROS2-FT. The project website can be found here.

Download

To download the repository and all submodules, run:

mkdir -p ~/ft_ws/src
cd ~/ft_ws/src
git clone https://github.com/KeplerC/fogros2-ft.git src
git submodule update --init --recursive

Install

We assume a Ubuntu 22.04 system with ROS2 Humble and colcon installed.

sudo apt install build-essential curl pkg-config libssl-dev protobuf-compiler clang
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
source "$HOME/.cargo/env"
pip install skypilot[aws]

You can configure AWS by running aws configure and run

sky check

to make sure your AWS is correctly configured.

Then build the workspace:

cd ~/ft_ws
colcon build

Run the example

All the examples can be found in directory, which you can run by:

source ~/ft_ws/install/setup.bash
ros2 launch fogros2_examples <example_name>.sky.launch.py

You are not required to install rust related dependencies to run the docker examples, which you can directly run by:

cd ~/ft_ws
ros2 launch fogros2_examples <example_name>.docker.sky.launch.py

References

• All Cloud Robotics Application Code: https://github.com/BerkeleyAutomation/fogros-realtime-examples
• All raw logs to generate paper figures: https://github.com/BerkeleyAutomation/fogros-rt-results