ROS 2 Fast-DDS Service Discovery Server Headless Service Example

[fujitatomoya]

Overview

It is likely that once number of participant (ROS 2 context) increases, there would be the problem about participant discovery cost and endpoint discovery cost. this could be even worse when we have security enabled for the authentication handshake. The use case to use k8s robotics fleet and robot applications, it is easy to imagine that we have many ROS 2 contexts, topics and endpoints in the network.

To solve this discovery cost situation, that would be really useful to have the default service description for ROS 2 Fast-DDS discovery server with headless service, so that the other pods can dynamically DNS the discovery server with URI when the pods start.

Requirement

• Set up ROS 2 Fast-DDS Discovery Server in the k8s cluster.
• Use headless service custom resource to DNS by other pods dynamically.
• Backup redundant server would be nice, standing by the other physical node in the cluster.

[fujitatomoya]

closing in favor of https://github.com/fujitatomoya/ros_k8s/pull/36