add GUI example with turtlesim and rqt. (#27)

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

docs/ROS2_Deployment_Intermediate.md

@@ -19,22 +19,57 @@ To control the capability such as `which node has display`, it will use node lab
 
 **see deployment description [ROS 2 turtlesim and rqt](./../yaml/ros2-turtlesim.yaml)**
 
-![ROS 2 Turtlesim and Rqt Example](./../images/ros2_turtlesim_sample.png)
+![ROS 2 Turtlesim and Rqt Overview](./../images/ros2_turtlesim_overview.png)
+
+- Disable xhost access control
+
+```bash
+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`.
+
 ```bash
-xxx
+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 the node with display.
+- Start turtlesim and rqt on `edgeserver`, and start bash process node in `edgedevice`.
 
 ```bash
-xxx
+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.
+
 ```bash
-xxx
-```
+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.
+...
+```
+
+<img src="./../images/ros2_turtlesim_output.png" width="800">

yaml/ros2-turtlesim.yaml

@@ -0,0 +1,131 @@
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: ros2-turtlesim-gui
+spec:
+  replicas: 1
+  selector:
+    matchLabels:
+      app: ros2-turtlesim-gui
+  template:
+    metadata:
+      labels:
+        app: ros2-turtlesim-gui
+    spec:
+      containers:
+      - image: tomoyafujita/ros:rolling
+        command: ["/bin/bash", "-c"]
+        args: ["source /opt/ros/$ROS_DISTRO/setup.bash && ros2 run turtlesim turtlesim_node"]
+        imagePullPolicy: IfNotPresent
+        tty: true
+        name: ros2-turtlesim-gui
+        ### mounting host file to container
+        volumeMounts:
+        - mountPath: /tmp/.X11-unix
+          name: xserver
+        ### bind host environment variable to container
+        env:
+          - name: DISPLAY
+            value: ":1" # can this be host variable instead?
+      ### select the node with GUI for this deployment
+      nodeSelector:
+        nodetype: edgeserver
+      ### bind the host xserver unix to the container
+      volumes:
+      - name: xserver
+        hostPath:
+          path: /tmp/.X11-unix
+          type: Directory # host should have this always
+      tolerations:
+      - key: node-role.kubernetes.io/master
+        operator: Exists
+        effect: NoSchedule
+      - key: node-role.kubernetes.io/control-plane
+        operator: Exists
+        effect: NoSchedule
+      restartPolicy: Always
+
+---
+
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: rqt
+spec:
+  replicas: 1
+  selector:
+    matchLabels:
+      app: rqt
+  template:
+    metadata:
+      labels:
+        app: rqt
+    spec:
+      containers:
+      - image: tomoyafujita/ros:rolling
+        command: ["/bin/bash", "-c"]
+        args: ["source /opt/ros/$ROS_DISTRO/setup.bash && rqt"]
+        imagePullPolicy: IfNotPresent
+        tty: true
+        name: rqt
+        ### mounting host file to container
+        volumeMounts:
+        - mountPath: /tmp/.X11-unix
+          name: xserver
+        ### bind host environment variable to container
+        env:
+          - name: DISPLAY
+            value: ":1" # can this be host variable instead?
+      ### select the node with GUI for this deployment
+      nodeSelector:
+        nodetype: edgeserver
+      ### bind the host xserver unix to the container
+      volumes:
+      - name: xserver
+        hostPath:
+          path: /tmp/.X11-unix
+          type: Directory # host should have this always
+      tolerations:
+      - key: node-role.kubernetes.io/master
+        operator: Exists
+        effect: NoSchedule
+      - key: node-role.kubernetes.io/control-plane
+        operator: Exists
+        effect: NoSchedule
+      restartPolicy: Always
+
+---
+
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: ros2-teleop-key
+spec:
+  replicas: 1
+  selector:
+    matchLabels:
+      app: ros2-teleop-key
+  template:
+    metadata:
+      labels:
+        app: ros2-teleop-key
+    spec:
+      containers:
+      - image: tomoyafujita/ros:rolling
+        command: ["/bin/bash", "-c"]
+        #args: ["source /opt/ros/$ROS_DISTRO/setup.bash && ros2 run turtlesim turtle_teleop_key"]
+        args: ["/bin/bash"]
+        imagePullPolicy: IfNotPresent
+        tty: true
+        name: ros2-teleop-key
+      ### select the node w/o GUI for this deployment
+      nodeSelector:
+        nodetype: edgedevice
+      tolerations:
+      - key: node-role.kubernetes.io/master
+        operator: Exists
+        effect: NoSchedule
+      - key: node-role.kubernetes.io/control-plane
+        operator: Exists
+        effect: NoSchedule
+      restartPolicy: Always