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ROS 2 Deployment Intermediate

This section provides intermediate examples such as GUI display access, security enclaves and hardware acceleration.

ROS Rolling Demonstration

Please Use WeaveNet CNI Plugin

see Why we need to use WeaveNet

ROS 2 GUI Display Access

ROS provides many useful tools via GUI such as rqt, rviz and GUI application like turtlesim. This example deploys ROS 2 turtlesim application container bound to the node which has display, and access the xserver from the container, application container can display the turtlesim on the display. At the same time, it will bring up rqt to monitor the topic on the same node which has display. To control the capability such as which node has display, it will use node labels to describe the capability and at the deployment we can select this label as application container requirements.

To run this example, at least one physical node must have display xserver running.

see deployment description ROS 2 turtlesim and rqt

ROS 2 Turtlesim and Rqt Overview

  • Disable xhost access control
tomoyafujita@~/DVT >xhost +local:root
non-network local connections being added to access control list

  • Labeling the display capability.

    In this example, edgeserver is the server runs GUI capability, but edgedevice.

root@tomoyafujita-HP-Compaq-Elite-8300-SFF:~# kubectl label nodes tomoyafujita-hp-compaq-elite-8300-sff nodetype=edgeserver
root@tomoyafujita-HP-Compaq-Elite-8300-SFF:~# kubectl label nodes ubuntu nodetype=edgedevice
root@tomoyafujita-HP-Compaq-Elite-8300-SFF:~# kubectl get nodes --show-labels
NAME                                    STATUS   ROLES           AGE   VERSION   LABELS
tomoyafujita-hp-compaq-elite-8300-sff   Ready    control-plane   63m   v1.25.5   beta.kubernetes.io/arch=amd64,beta.kubernetes.io/os=linux,kubernetes.io/arch=amd64,kubernetes.io/hostname=tomoyafujita-hp-compaq-elite-8300-sff,kubernetes.io/os=linux,node-role.kubernetes.io/control-plane=,node.kubernetes.io/exclude-from-external-load-balancers=,nodetype=edgeserver
ubuntu                                  Ready    <none>          45m   v1.25.5   beta.kubernetes.io/arch=arm64,beta.kubernetes.io/os=linux,kubernetes.io/arch=arm64,kubernetes.io/hostname=ubuntu,kubernetes.io/os=linux,nodetype=edgedevice
  • Start turtlesim and rqt on edgeserver, and start bash process node in edgedevice.
root@tomoyafujita-HP-Compaq-Elite-8300-SFF:/ros_k8s/yaml# kubectl apply -f ros2-turtlesim.yaml
deployment.apps/ros2-turtlesim-gui created
deployment.apps/rqt created
deployment.apps/ros2-teleop-key created

  • Use turtle_teleop_key to control the turtlesim.

    process is already running in the cluster system on the host edgedevice labeled, so we can jump in the container turtle_teleop_key via kubernetes command as below.

root@tomoyafujita-HP-Compaq-Elite-8300-SFF:/ros_k8s/yaml# kubectl get pods
NAME                                  READY   STATUS    RESTARTS   AGE
ros2-teleop-key-75f7c5475c-s6hwj      1/1     Running   0          33s
ros2-turtlesim-gui-849df7c66b-gzmt9   1/1     Running   0          33s
rqt-5886589dfc-v8q92                  1/1     Running   0          33s
root@tomoyafujita-HP-Compaq-Elite-8300-SFF:/ros_k8s/yaml# kubectl exec --stdin --tty ros2-teleop-key-75f7c5475c-s6hwj -- /bin/bash

root@ros2-teleop-key-75f7c5475c-s6hwj:/# source /opt/ros/rolling/setup.bash
root@ros2-teleop-key-75f7c5475c-s6hwj:/# ros2 run turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.
Use G|B|V|C|D|E|R|T keys to rotate to absolute orientations. 'F' to cancel a rotation.
'Q' to quit.
...