Support KubeEdge tutorial with far edge micro-ROS

[fujitatomoya]

tutorial goes with https://kubeedge.io.

KubeEdge can good performance advantage to connect edge devices to Kubernetes Cluster running in the cloud infrastructure.
This tutorial does not include far edge micro-ROS device, but using host network interface to connect near edge devices running ROS 2 in the same network could be really useful example.

[fujitatomoya]

related to #9,

probably when developing the example for this, I can also bind edgemesh provided by https://github.com/kubeedge/edgemesh for network interface.

[a732264856]

Hello，Can you tell me what changes need to be made on the deployment file to support Edgemesh, I tried this but failed, the talker node on the side could not connect to the rosmaster node on the cloud. (They are not in the same LAN.)

[a732264856]

This is the content of the delpoyment file used, only the roscore service content has been modified based on your previous offer

############################

ROS master / roscore

############################

apiVersion: apps/v1
kind: Deployment
metadata:
name: roscore-deployment
labels:
app: ros1
node: roscore
spec:
replicas: 1
selector:
matchLabels:
node: roscore
template:
metadata:
labels:
node: roscore
spec:
containers:
- name: roscore
tty: true
image: tomoyafujita/ros:noetic
command: ["/bin/bash", "-c"]
args: ["source /opt/ros/$ROS_DISTRO/setup.bash && roscore"]
imagePullPolicy: IfNotPresent
ports:
- containerPort: 11311
name: roscoreport
nodeSelector:
nodetype: master
tolerations:
- key: node-role.kubernetes.io/master
operator: Exists
effect: NoSchedule
- key: node-role.kubernetes.io/control-plane
operator: Exists
effect: NoSchedule

---

Headless service declaration.

This is required to map to app roscore so that other pods can DNS rosmaster IP address dynamically.

apiVersion: v1
kind: Service
metadata:
name: rosmaster
labels:
app: ros1
node: roscore
spec:
#clusterIP: None
ports:
- port: 11311
targetPort: 11311
protocol: TCP
selector:
node: roscore

---

##################

ROS talker

##################

apiVersion: apps/v1
kind: Deployment
metadata:
name: talker-deployment
labels:
app: ros1
node: talker
spec:
replicas: 1
selector:
matchLabels:
node: talker
template:
metadata:
labels:
node: talker
spec:
containers:
- name: publisher
tty: true
image: tomoyafujita/ros:noetic
command: ["/bin/bash", "-c"]
args: ["source /opt/ros/$ROS_DISTRO/setup.bash && until rostopic list; do sleep 1; done && rosrun roscpp_tutorials talker"]
imagePullPolicy: IfNotPresent
env:
- name: ROS_MASTER_URI
value: http://rosmaster:11311
- name: ROS_HOSTNAME
value: ros-talker
nodeSelector:
nodetype: worker

---

Headless service declaration.

This is required to map to app publisher so that other pods can DNS IP address dynamically.

apiVersion: v1
kind: Service
metadata:
name: ros-talker
labels:
app: ros1
node: talker
spec:
clusterIP: None
selector:
node: talker

---

####################

ROS listener

####################

apiVersion: apps/v1
kind: Deployment
metadata:
name: listener-deployment
labels:
app: ros1
node: listener
spec:
replicas: 1
selector:
matchLabels:
node: listener
template:
metadata:
labels:
node: listener
spec:
containers:
- name: subscription
tty: true
image: tomoyafujita/ros:noetic
command: ["/bin/bash", "-c"]
args: ["source /opt/ros/$ROS_DISTRO/setup.bash && until rostopic list; do sleep 1; done && rosrun rospy_tutorials listener.py"]
imagePullPolicy: IfNotPresent
env:
- name: ROS_MASTER_URI
value: http://rosmaster:11311
- name: ROS_HOSTNAME
value: ros-listener
nodeSelector:
nodetype: master
tolerations:
- key: node-role.kubernetes.io/master
operator: Exists
effect: NoSchedule
- key: node-role.kubernetes.io/control-plane
operator: Exists
effect: NoSchedule

---

Headless service declaration.

This is required to map to app subscription so that other pods can DNS IP address dynamically.

apiVersion: v1
kind: Service
metadata:
name: ros-listener
labels:
app: ros1
node: listener
spec:
clusterIP: None
selector:
node: listener

[fujitatomoya]

unfortunately, i have not tried this configuration yet.

off the top of my head, i would try,

• using ubuntu pods to make sure network can communicate each other.
• are you using CNI? I believe that edgemesh takes control of iptables in host system. so probably it needs to bind the host network interface to container runtime?

[a732264856]

I used KubeEdge and EdgeMesh. Now I encountered a very strange situation. After I exposed port 11311 of ros_master, EdgeMesh could not access it. It was accessible the first time I used it, and then it wasn't, but I didn't make any changes

[fujitatomoya]

@a732264856 appreciate the information. this issue was meant to use KubeEdge with host network and connect micro-ROS devices as far edge devices. I would not probably use EdgeMesh at this moment. but that is really interesting and i need to catch up with it.

[fujitatomoya]

[fujitatomoya]