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StarlingUAS / ProjectStarling

BRL Flight Arena Infrastructure 2.0
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Kubernetes Fixes and Verified Example Controller Runs #20

Closed mhl787156 closed 3 years ago

mhl787156 commented 3 years ago

This PR (1) Fixes certificate issues with kubernetes dashboard on setup by exposing dashboard on localhost (2) Verifies Example Controller works through ROS2 on gazebo. (3) Updates READMEs accordingly. Main modifications include changing all example controller logging to use ROS logging to ensure successful logging within kubernetes. And updating the k3s install script.

mhl787156 commented 3 years ago

Also Exposes Gazebo and the UI the normal ports on localhost and updated the READMEs accordingly with up to date instructions.

mhl787156 commented 3 years ago

Thanks for looking through, with regards to windows... I havent really thought about it at all I'll be honest as the lab system is all linux. I double checked on the text colouring and that appears to be cross-platform so at the very least it wouldn't error, it might just not show.

I am not sure if k3s would even work unless windows also included wsl. I think for windows compatibility in general, are we trying to make it work for pure windows, or are we allowing with WSL? All of our current scripts should work okay with WSL maybe. All bets are off for standard windows, perhaps need to create an issue there to create windows k3s scripts later.

rob-clarke commented 3 years ago

Kubernetes is included in Docker Desktop for Windows so we might not need the k3s install stuff? On W10 Pro it rolls its own VM for running the containers but there is also an option to use WSL2 as a backend. The actual docker commands are run from "pure" Windows and talk to a daemon located in one of the VM options.

mhl787156 commented 3 years ago

Hmmm quite possibly for pure Windows, it might just be case of running kubectl apply the configs in the built in kubernetes and not using k3s at all. Although this might be for single machine testing with 'real software architecture'. I'm unsure how connecting pis would work. Worst case, purely working in WSL should work though.
Definitely worth raising an issue though to have a look at this at some point.