DP-806 : add support for host network usage

AlexFernandes-MOVAI commented 1 year ago

Content

Fixing: DP-791
align with updated docker images
add docker-compose configurations for cluster in host mode
rework launch, stop, reset, rviz, simulator scripts
move config file to a writable place
added tests in CICD for this new mode
verified spawner service: demo flows still running
cleaned detection of NVIDIA cards
reviewed backend service: always use same 8080 port
switch between modes can be done with stop/start :
- data loss can appear since containers will be recreated (spawner init overwrite some db items)
- disclaimer is added
redis entrypoint: add port configuration to be able to fit local and master in host mode without having duplicated configuration files
- https://github.com/MOV-AI/containers-redis2/pull/16

Tests

host mode : access rostopics published inside spawner from remote host: :+1:
host mode : access rostopics published from remote host to inside spawner : :+1:

Host to spawner communication:

In the host, need to have ros noetic installation ROS_IP=[host_ip] ROS_MASTER_URI=http://[host_ip]:11311 rostopic pub -r 2 /test std_msgs/Bool "data: false"
In the spawner: rostopic echo /test

spawner to Host communication:

In the host, need to have ros noetic installation ROS_IP=[host_ip] ROS_MASTER_URI=http://[host_ip]:11311 rostopic echo /test
In the spawner: rostopic pub -r 2 /test std_msgs/Bool "data: false"

External pc to spawner communication:

In the other pc, need to have ros noetic installation ROS_IP=[pc_ip] ROS_MASTER_URI=http://[host_ip]:11311 rostopic echo /test
In the spawner: rostopic pub -r 2 /test std_msgs/Bool "data: false"

Spawner to External pc communication:

In the other pc, need to have ros noetic installation ROS_IP=[pc_ip] ROS_MASTER_URI=http://[host_ip]:11311 rostopic pub -r 2 /test std_msgs/Bool "data: false"
In the spawner: rostopic echo /test

[x] Make sure you are opening from a topic/feature/bugfix branch
[x] Ensure that the PR title represents the desired changes
[x] Ensure that the PR description detail the desired changes
[x] Link to relevant issues in GitHub or Jira
[x] Link to relevant pull requests, esp. upstream and downstream changes
[x] Ensure you have provided tests - that demonstrates feature works or fixes the issue

github-actions[bot] commented 1 year ago

`yamllint` Failed

Show Output

``` ::group::docker-compose.yml ::warning file=docker-compose.yml,line=176,col=121::176:121 [line-length] line too long (125 > 120 characters) ::endgroup:: ::group::docker-compose-host.yml ::warning file=docker-compose-host.yml,line=187,col=121::187:121 [line-length] line too long (125 > 120 characters) ::error file=docker-compose-host.yml,line=194,col=9::194:9 [indentation] wrong indentation: expected 6 but found 8 ::endgroup:: ```

Workflow: PR Checks, Action: __karancode_yamllint-github-action, Lint: docker-compose.yml docker-compose-nvidia.yml docker-compose-host.yml docker-compose-nvidia-host.yml