ROS 2 sample deployment examples

[fujitatomoya]

the following could be useful for examples.

• simple distributed system using weave
  • do not use nodeselector, let the kubernetes to choose where to deploy the application. using ros2cli to deploy multiple publishers and subscription at once.
• localhost only ROS 2 deployment
  • using ROS_LOCALHOST flag enabled, to contain the all app container in the single pods and deploy that as DaemonSets. this is example how to have localhost contained environment even with ROS 2.
• logical domain isolation with host network interface
  • using ConfigMap to bind ROS_DOMAIN_ID to the application pods via deployment. we can confirm this using docker container to join the ROS 2 network with domain id setting.

[fujitatomoya]

simple distributed system using weave do not use nodeselector, let the kubernetes to choose where to deploy the application. using ros2cli to deploy multiple publishers and subscription at once.

addressed by https://github.com/fujitatomoya/ros_k8s/commit/d771770b58d57508c4d544d5a5c7a2cfa10233c7

[fujitatomoya]

localhost only ROS 2 deployment using ROS_LOCALHOST flag enabled, to contain the all app container in the single pods and deploy that as DaemonSets. this is example how to have localhost contained environment even with ROS 2.

addressed by https://github.com/fujitatomoya/ros_k8s/commit/cc47796dd3cbe7f714f5b931b134a3c3b6e306f0

[fujitatomoya]

logical domain isolation with host network interface using ConfigMap to bind ROS_DOMAIN_ID to the application pods via deployment. we can confirm this using docker container to join the ROS 2 network with domain id setting.

addressed by https://github.com/fujitatomoya/ros_k8s/commit/e09cb5bfe2e9773e7d4f8e98b46839c68224ac03