Vapor is a high availibility rosmaster implementation
Vapor-master is a drop in replacement for rosmaster enabling high availability ROS service discovery. Vapor removes the single point of failure fundamental to ROS1 enabling new options for achieving greater scale and uptime of ROS1 workflows.
Vapor is available as a catkin package, debian package and Ubuntu Snap. We recommend consuming vapor via the debian package or Ubuntu Snap.
A requirement of vapor is that you have installed and configured mongodb for your environment. For local testing you can simply run:
sudo apt install mongodb
Vapor does not strictly require a ROS installtion, it can simply be run as a micro service if so desired.
NOTE: We are still awaiting the next rosdistro sync for Melodic, you can follow sync status here
sudo apt install ros-melodic-vapor_master
Vapor can be installed either by visiting the Ubuntu Snap store above or with the following command
snap install vapor-master
Once installed the snap runs as a daemon until stopped using:
snap stop vapor-master
To re-start simply:
snap start vapor-master
You can manually start vapor for:
snap run vapor-master
You can debug by seting the DEBUG
environment variable:
DEBUG=* snap run vapor-master
All command line flags are accessible via the snap as well:
snap run vapor-master --help
Vapor can be configured in four ways with highest precedence in order:
Usage vapor-master
--clean-db
--no-clean-db
--no-shutdown
--db=[mongo-uri]
--dboptions={[mongo-db-options]}
--ROS_MASTER_URI=[ros-master-uri]
--config=[configuration-file]
Vapor looks for configuration files in:
--config
$SNAP_COMMON/config.json
$HOME/.vapor-master/config.json
./config.json
true
mongodb://localhost:27017/vapor_master
http://localhost:11311
To develop you will need to install
To interactively develop run:
yarn
yarn watch
To run tests, first run catkin_make
in the tests/native_client
folder, and then source the file tests/native_client/devel/setup.bash
.
Then run:
yarn test
Should you need professional support, contact us.
Vapor is open source software developed by RosHub Inc.