AWS IoT FleetWise で車載カメラ画像をクラウドに送ってみた

[
  {
    "struct": {
      "fullyQualifiedName": "Types.sensor_msgs_msg_CompressedImage"
    }
  },
  {
    "struct": {
      "fullyQualifiedName": "Types.std_msgs_Header"
    }
  },
  {
    "struct": {
      "fullyQualifiedName": "Types.builtin_interfaces_Time"
    }
  },
  {
    "property": {
      "fullyQualifiedName": "Types.builtin_interfaces_Time.sec",
      "dataType": "INT32",
      "dataEncoding": "TYPED"
    }
  },
  {
    "property": {
      "fullyQualifiedName": "Types.builtin_interfaces_Time.nanosec",
      "dataType": "UINT32",
      "dataEncoding": "TYPED"
    }
  },
  {
    "property": {
      "fullyQualifiedName": "Types.std_msgs_Header.stamp",
      "dataType": "STRUCT",
      "structFullyQualifiedName": "Types.builtin_interfaces_Time"
    }
  },
  {
    "property": {
      "fullyQualifiedName": "Types.std_msgs_Header.frame_id",
      "dataType": "STRING",
      "dataEncoding": "TYPED"
    }
  },
  {
    "property": {
      "fullyQualifiedName": "Types.sensor_msgs_msg_CompressedImage.header",
      "dataType": "STRUCT",
      "structFullyQualifiedName": "Types.std_msgs_Header"
    }
  },
  {
    "property": {
      "fullyQualifiedName": "Types.sensor_msgs_msg_CompressedImage.format",
      "dataType": "STRING",
      "dataEncoding": "TYPED"
    }
  },
  {
    "property": {
      "fullyQualifiedName": "Types.sensor_msgs_msg_CompressedImage.data",
      "dataType": "UINT8_ARRAY",
      "dataEncoding": "BINARY"
    }
  },
  {
    "branch": {
      "fullyQualifiedName": "Vehicle.Cameras.Front",
      "description": "Vehicle.Cameras.Front"
    }
  },
  {
    "sensor": {
      "fullyQualifiedName": "Vehicle.Cameras.Front.Image",
      "dataType": "STRUCT",
      "structFullyQualifiedName": "Types.sensor_msgs_msg_CompressedImage"
    }
  }
]

  {
    "branch": {
      "fullyQualifiedName": "Vehicle",
      "description": "Vehicle"
    }
  },
  {
    "branch": {
      "fullyQualifiedName": "Vehicle.Cameras",
      "description": "Vehicle.Cameras"
    }
  },
  {
    "branch": {
      "fullyQualifiedName": "Vehicle.Cameras.Front",
      "description": "Vehicle.Cameras.Front"
    }
  },
  {
    "sensor": {
      "fullyQualifiedName": "Vehicle.Cameras.Front.Image",
      "dataType": "STRUCT",
      "structFullyQualifiedName": "Types.sensor_msgs_msg_CompressedImage"
    }
  }

const nodes = JSON.parse(fs.readFileSync('lib/ros2-nodes.json', 'utf8'));

const signalCatalogCr = new cr.AwsCustomResource(this, 'SignalCatalogCr', {
  onCreate: {
    service: 'iotfleetwise',
    action: 'CreateSignalCatalog',
    parameters: { name: 'DefaultSignalCatalog', nodes },
    physicalResourceId: cr.PhysicalResourceId.of('ros2-signal-catalog'),
  },
  onDelete: {
    service: 'iotfleetwise',
    action: 'DeleteSignalCatalog',
    parameters: { name: 'DefaultSignalCatalog' },
    physicalResourceId: cr.PhysicalResourceId.of('ros2-signal-catalog'),
  },
  policy: cr.AwsCustomResourcePolicy.fromSdkCalls({
    resources: cr.AwsCustomResourcePolicy.ANY_RESOURCE,
  }),
  installLatestAwsSdk: true,
});

const modelManifest = new iotfleetwise.CfnModelManifest(this, 'ModelManifest', {
  name: 'Ros2ModelManifest',
  description: 'Model Manifest for ROS2',
  signalCatalogArn: signalCatalogArn,
  status: 'ACTIVE',
  nodes: [
    'Vehicle.Cameras.Front.Image',
    'Vehicle.Speed',
    "Vehicle.Temperature",
    'Vehicle.Acceleration',
  ],
});

[
  {
    "interfaceId": "10",
    "type": "VEHICLE_MIDDLEWARE",
    "vehicleMiddleware": {
      "name": "ros2",
      "protocolName": "ROS_2"
    }
  }
]

{
  "fullyQualifiedName": "Vehicle.Cameras.Front.Image",
  "type": "MESSAGE_SIGNAL",
  "interfaceId": "10",
  "messageSignal": {
    "topicName": "/ego_vehicle/rgb_front/image_compressed:sensor_msgs/msg/CompressedImage",
    "structuredMessage": {
      "structuredMessageDefinition": [
        {
          "fieldName": "header",
          "dataType": {
            "structuredMessageDefinition": [
              {
                "fieldName": "stamp",
                "dataType": {
                  "structuredMessageDefinition": [
                    {
                      "fieldName": "sec",
                      "dataType": {
                        "primitiveMessageDefinition": {
                          "ros2PrimitiveMessageDefinition": { "primitiveType": "INT32" }
                        }
                      }
                    },
                    {
                      "fieldName": "nanosec",
                      "dataType": {
                        "primitiveMessageDefinition": {
                          "ros2PrimitiveMessageDefinition": { "primitiveType": "UINT32" }
                        }
                      }
                    }
                  ]
                }
              },
              {
                "fieldName": "frame_id",
                "dataType": {
                  "primitiveMessageDefinition": {
                    "ros2PrimitiveMessageDefinition": { "primitiveType": "STRING" }
                  }
                }
              }
            ]
          }
        },
        {
          "fieldName": "format",
          "dataType": {
            "primitiveMessageDefinition": {
              "ros2PrimitiveMessageDefinition": { "primitiveType": "STRING" }
            }
          }
        },
        {
          "fieldName": "data",
          "dataType": {
            "structuredMessageListDefinition": {
              "name": "listType",
              "memberType": {
                "primitiveMessageDefinition": {
                  "ros2PrimitiveMessageDefinition": { "primitiveType": "UINT8" }
                }
              },
              "capacity": 0,
              "listType": "DYNAMIC_UNBOUNDED_CAPACITY"
            }
          }
        }
      ]
    }
  }
}

const networkInterfaces = JSON.parse(
  fs.readFileSync('lib/network-interfaces.json', 'utf8'),
);
const decoders = JSON.parse(fs.readFileSync('lib/ros2-decoders.json', 'utf8'));

const decoderManifestParams = {
  modelManifestArn: modelManifest.attrArn,
  name: 'Ros2DecoderManifest',
  description: 'Decoder Manifest for ROS2',
  networkInterfaces,
  signalDecoders: decoders,
  status: 'ACTIVE',
};

const decoderManifestCr = new cr.AwsCustomResource(this, 'DecoderManifestCr', {
  onCreate: {
    service: 'iotfleetwise',
    action: 'CreateDecoderManifest',
    parameters: decoderManifestParams,
    physicalResourceId: cr.PhysicalResourceId.of('ros2-decoder-manifest'),
  },
  // ... onDelete は省略 ...
  policy: cr.AwsCustomResourcePolicy.fromStatements([
    new iam.PolicyStatement({
      actions: ['iotfleetwise:CreateDecoderManifest', 'iotfleetwise:DeleteDecoderManifest'],
      resources: ['*'],
    }),
  ]),
  installLatestAwsSdk: true,
});
decoderManifestCr.node.addDependency(modelManifest);

const decoderManifestArn = decoderManifestCr.getResponseField('arn');

const vehicle = new iotfleetwise.CfnVehicle(this, 'Vehicle', {
  name: thingName,
  modelManifestArn: modelManifest.attrArn,
  decoderManifestArn: decoderManifestArn,
  associationBehavior: 'ValidateIotThingExists',
});
vehicle.node.addDependency(modelManifest);

const campaign = new iotfleetwise.CfnCampaign(this, 'Campaign', {
  name: 'Ros2Campaign',
  description: 'Campaign for ROS2',
  action: 'APPROVE',
  signalCatalogArn: signalCatalogArn,
  targetArn: vehicle.attrArn,
  collectionScheme: { timeBasedCollectionScheme: { periodMs: 10000 } },
  compression: 'SNAPPY',
  dataDestinationConfigs: [{ s3Config: { bucketArn: bucket.bucketArn } }],
  signalsToCollect: [
    { name: 'Vehicle.Cameras.Front.Image' },
    { name: 'Vehicle.Speed' },
    { name: 'Vehicle.Acceleration' },
  ],
});

pnpm install
pnpm run cdk deploy

services:
  microros-agent:
    image: microros/micro-ros-agent:humble
    container_name: microros-agent
    network_mode: host
    ipc: host
    command: ["udp4", "--port", "8888"]
    volumes:
      - /dev:/dev
      - /dev/shm:/dev/shm
    environment:
      - ROS_DISTRO=humble
      - ROS_DOMAIN_ID=0
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      - FASTDDS_BUILTIN_TRANSPORTS=UDPv4
    healthcheck:
      test: ["CMD", "pgrep", "-f", "micro_ros_agent"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 10s
    restart: unless-stopped

  fwe-edge-agent:
    image: public.ecr.aws/aws-iot-fleetwise-edge/aws-iot-fleetwise-edge-ros2:latest
    container_name: fwe-edge-agent
    network_mode: host
    ipc: host
    volumes:
      - /dev:/dev
      - /dev/shm:/dev/shm
      - ./cert/certificate.pem:/etc/aws-iot-fleetwise/certificate.pem:ro
      - ./cert/private.key:/etc/aws-iot-fleetwise/private-key.key:ro
    environment:
      - VEHICLE_NAME=${VEHICLE_NAME}
      - ENDPOINT_URL=${ENDPOINT_URL}
      - CREDS_ENDPOINT_URL=${CREDS_ENDPOINT_URL}
      - CREDS_ROLE_ALIAS=${CREDS_ROLE_ALIAS}
      # ROS2 interface
      - ENABLE_ROS2_INTERFACE=true
      - ROS_VERSION=2
      - ROS_DISTRO=humble
      - ROS_DOMAIN_ID=0
      - ROS_PYTHON_VERSION=3
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      # - FASTDDS_BUILTIN_TRANSPORTS=SHM
      - COLCON_PREFIX_PATH=/opt/ros/humble
      - COLCON_PYTHON_EXECUTABLE=/usr/bin/python3
      # /usr/bin/start-fwe.sh が /opt/ros/humble/local_setup.bash を読む際に
      # set -u 相当で未定義変数があると落ちるので、空でも良いので定義しておく
      - AMENT_PREFIX_PATH=
      - CMAKE_PREFIX_PATH=
      - LD_LIBRARY_PATH=
      - PKG_CONFIG_PATH=
      - PYTHONPATH=
      - AMENT_TRACE_SETUP_FILES=
      - COLCON_TRACE=
    depends_on:
      - microros-agent
    restart: unless-stopped

REGION=us-east-1 bash -lc 'set -euo pipefail
VEHICLE_NAME="$(aws cloudformation list-exports --region "$REGION" --query "Exports[?Name==\`FleetWiseVehicleName\`].Value|[0]" --output text)"
CREDS_ROLE_ALIAS="$(aws cloudformation list-exports --region "$REGION" --query "Exports[?Name==\`CredentialsProviderRoleAlias\`].Value|[0]" --output text)"
ENDPOINT_URL="$(aws iot describe-endpoint --region "$REGION" --endpoint-type iot:Data-ATS --query endpointAddress --output text)"
CREDS_ENDPOINT_URL="$(aws iot describe-endpoint --region "$REGION" --endpoint-type iot:CredentialProvider --query endpointAddress --output text)"
cat > .env <<EOF
# FleetWise Edge Agent
VEHICLE_NAME=${VEHICLE_NAME}
ENDPOINT_URL=${ENDPOINT_URL}
CREDS_ENDPOINT_URL=${CREDS_ENDPOINT_URL}
CREDS_ROLE_ALIAS=${CREDS_ROLE_ALIAS}
EOF
echo "wrote .env"'

REGION=us-east-1
SECRET_ID="$(aws cloudformation list-exports --region "${REGION}" --query "Exports[?Name==\`IotCoreCertificateSecret\`].Value|[0]" --output text)"

mkdir -p cert

aws secretsmanager get-secret-value \
  --region "${REGION}" \
  --secret-id "${SECRET_ID}" \
  --query SecretString \
  --output text > cert/secret.json

perl -0777 -ne '
  if (/"privateKey":"(.*?)"/s) {
    $key = $1;
    $key =~ s/\\n/\n/g;
    open(my $fh, ">", "cert/private.key");
    print $fh $key;
    close($fh);
  }
  if (/"certificate":"(.*?)"/s) {
    $cert = $1;
    $cert =~ s/\\n/\n/g;
    open(my $fh, ">", "cert/certificate.pem");
    print $fh $cert;
    close($fh);
  }
' cert/secret.json

chmod 600 cert/certificate.pem cert/private.key
rm -f cert/secret.json

ssh pi@<RPI_IP_ADDRESS> "mkdir -p ~/fwe"
scp -r docker-compose.yaml .env cert/* pi@<RPI_IP_ADDRESS>:~/fwe/

docker compose up -d

pio run -e esp32s3box -t upload

pio device monitor-b 115200

docker run --rm --net=host --ipc=host \
  -v /dev:/dev \
  -v /dev/shm:/dev/shm \
  -e ROS_DOMAIN_ID=0 \
  -e RMW_IMPLEMENTATION=rmw_fastrtps_cpp \
  ros:humble-ros-base \
  bash -lc 'source /opt/ros/humble/setup.bash; ros2 topic list -t'

{
  "campaignName": "Ros2Campaign",
  "eventId": "1406428931",
  "vehicleName": "vehicle-ros2-test",
  "measure_name": "Vehicle.Cameras.Front.Image",
  "time": 1765690035337,
  "measure_value_STRUCT": {
    "Types.sensor_msgs_msg_CompressedImage": {
      "data": "s3://vision-system-data-123456789012-us-east-1/unstructured-data/c1387eca-6969-3366-9a42-c276f5fabf94-2025-12-14-05-27-15-337-vehicle-ros2-test-Vehicle.Cameras.Front.Image-data",
      "format": "jpeg",
      "header": {
        "stamp": {
          "sec": 17,
          "nanosec": 667000000
        },
        "frame_id": "camera"
      }
    },
    "Types.std_msgs_msg_Float32": null
  }
},
{
  "campaignName": "Ros2Campaign",
  "eventId": "1406428931",
  "vehicleName": "vehicle-ros2-test",
  "measure_name": "Vehicle.Speed",
  "time": 1765690036353,
  "measure_value_STRUCT": {
    "Types.sensor_msgs_msg_CompressedImage": null,
    "Types.std_msgs_msg_Float32": {
      "data": 41.29285
    }
  }
}