Servers for SPEARED2 (Simulation and Compilation)

This work is particially taken from the SPEARED approach. Consider for reference https://github.com/VARobot-PG/application/tree/original_work.

PhysicsEngine (gazebo) setup

1. clone repository
2. cd PhysicsEngine
3. docker build -t physics-engine .
4. docker run -t -d -p 9090:9090 physics-engine

Kubernetes setup

Kubernetes' infrastructure setup This documents describes how you can set up your own Kubernetes cluster to use for the compilation server.

1. Install k3s by running (linux only) curl -sfL https://get.k3s.io | sh -
2. check whether the cluster is running now k3s kubectl get node
3. This should yield something like
4. NAME STATUS ROLES AGE VERSION buster Ready control-plane,master 14d v1.20.0+k3s2
5. Next you should set the cluster configuration as environment variable to use kubectl more comfortable export KUBECONFIG=/etc/rancher/k3s/k3s.yaml
6. Now you are ready to configure your cluster. To use the compilation server you need a suitable service account that allows the compilerserver central pod to start (compilation-)jobs
7. Therefore run

• kubectl apply -f job-controller-role.yml
• kubectl apply -f job-contoller-svc-acc.yml
• kubectl apply -f job-role-binding.yml
• kubectl apply -f compileserver-deployment.yml
• kubectl apply -f compileserver-service.yml
• kubectl apply -f compileserver-ingress.yml

8. Now you can check the status of the cluster by running

• kubectl get pods or
• kubectl get deployment or
• kubectl get service or
• kubectl get ingress

9. It should tell you something like (here for example the deployment [option b)])
   NAME READY STATUS RESTARTS AGE
   compileserver-deployment-588cc459b8-mw6tr 1/1 Running 6 14d