Support KubeEdge tutorial with far edge micro-ROS

[fujitatomoya]

tutorial goes with https://kubeedge.io.

KubeEdge can good performance advantage to connect edge devices to Kubernetes Cluster running in the cloud infrastructure. This tutorial does not include far edge micro-ROS device, but using host network interface to connect near edge devices running ROS 2 in the same network could be really useful example.

[fujitatomoya]

related to https://github.com/fujitatomoya/ros_k8s/issues/9,

probably when developing the example for this, I can also bind edgemesh provided by https://github.com/kubeedge/edgemesh for network interface.

[a732264856]

Hello，Can you tell me what changes need to be made on the deployment file to support Edgemesh, I tried this but failed, the talker node on the side could not connect to the rosmaster node on the cloud. (They are not in the same LAN.)

[a732264856]

This is the content of the delpoyment file used, only the roscore service content has been modified based on your previous offer

############################

ROS master / roscore

############################

apiVersion: apps/v1 kind: Deployment metadata: name: roscore-deployment labels: app: ros1 node: roscore spec: replicas: 1 selector: matchLabels: node: roscore template: metadata: labels: node: roscore spec: containers:

• name: roscore tty: true image: tomoyafujita/ros:noetic command: ["/bin/bash", "-c"] args: ["source /opt/ros/$ROS_DISTRO/setup.bash && roscore"] imagePullPolicy: IfNotPresent ports:
  • containerPort: 11311 name: roscoreport nodeSelector: nodetype: master tolerations:
• key: node-role.kubernetes.io/master operator: Exists effect: NoSchedule
• key: node-role.kubernetes.io/control-plane operator: Exists effect: NoSchedule

---

Headless service declaration.

This is required to map to app roscore so that other pods can DNS rosmaster IP address dynamically.

apiVersion: v1 kind: Service metadata: name: rosmaster labels: app: ros1 node: roscore spec:

clusterIP: None

ports:

• port: 11311 targetPort: 11311 protocol: TCP selector: node: roscore

---

##################

ROS talker

##################

apiVersion: apps/v1 kind: Deployment metadata: name: talker-deployment labels: app: ros1 node: talker spec: replicas: 1 selector: matchLabels: node: talker template: metadata: labels: node: talker spec: containers:

• name: publisher tty: true image: tomoyafujita/ros:noetic command: ["/bin/bash", "-c"] args: ["source /opt/ros/$ROS_DISTRO/setup.bash && until rostopic list; do sleep 1; done && rosrun roscpp_tutorials talker"] imagePullPolicy: IfNotPresent env:
  • name: ROS_MASTER_URI value: http://rosmaster:11311
  • name: ROS_HOSTNAME value: ros-talker nodeSelector: nodetype: worker

---

Headless service declaration.

This is required to map to app publisher so that other pods can DNS IP address dynamically.

apiVersion: v1 kind: Service metadata: name: ros-talker labels: app: ros1 node: talker spec: clusterIP: None selector: node: talker

---

####################

ROS listener

####################

apiVersion: apps/v1 kind: Deployment metadata: name: listener-deployment labels: app: ros1 node: listener spec: replicas: 1 selector: matchLabels: node: listener template: metadata: labels: node: listener spec: containers:

• name: subscription tty: true image: tomoyafujita/ros:noetic command: ["/bin/bash", "-c"] args: ["source /opt/ros/$ROS_DISTRO/setup.bash && until rostopic list; do sleep 1; done && rosrun rospy_tutorials listener.py"] imagePullPolicy: IfNotPresent env:
  • name: ROS_MASTER_URI value: http://rosmaster:11311
  • name: ROS_HOSTNAME value: ros-listener nodeSelector: nodetype: master tolerations:
• key: node-role.kubernetes.io/master operator: Exists effect: NoSchedule
• key: node-role.kubernetes.io/control-plane operator: Exists effect: NoSchedule

---

Headless service declaration.

This is required to map to app subscription so that other pods can DNS IP address dynamically.

apiVersion: v1 kind: Service metadata: name: ros-listener labels: app: ros1 node: listener spec: clusterIP: None
selector: node: listener

[fujitatomoya]

unfortunately, i have not tried this configuration yet.

off the top of my head, i would try,

• using ubuntu pods to make sure network can communicate each other.
• are you using CNI? I believe that edgemesh takes control of iptables in host system. so probably it needs to bind the host network interface to container runtime?

[a732264856]

I used KubeEdge and EdgeMesh. Now I encountered a very strange situation. After I exposed port 11311 of ros_master, EdgeMesh could not access it. It was accessible the first time I used it, and then it wasn't, but I didn't make any changes

[fujitatomoya]

@a732264856 appreciate the information. this issue was meant to use KubeEdge with host network and connect micro-ROS devices as far edge devices. I would not probably use EdgeMesh at this moment. but that is really interesting and i need to catch up with it.

[fujitatomoya]

[fujitatomoya]