ROS On SDI Project

This sub-repository of open-SDI aims to provide various ROS sample applications and Dockerfile/YAML for deployment on k8s.

Prerequisites

• k8s
• docker or podman

Workspace structure

📦sdi_ros_example                           # top level workspace
 ┣ 📂sdi_simple_app_cpp                     # packages will be located at this level
 ┃ ┣ 📂src
 ┃ ┃ ┗ 📂multiple_topics                    # node Level directory
 ┃ ┃ ┃ ┣ 📜listener1.cpp                    # nodes will be located at this level
 ┃ ┃ ┃ ┣ 📜listener2.cpp
 ┃ ┃ ┃ ┗ 📜multiple_topics_talker.cpp
 ┃ ┣ 📂yaml                                 # for k8s Deployment
 ┃ ┃ ┗ 📜dds-test.yaml
 ┃ ┣ 📜CMakeLists.txt
 ┃ ┣ 📜Dockerfile                           # for creating ROS container
 ┃ ┗ 📜package.xml
 ┣ 📜.gitignore
 ┗ 📜README.md

Usage

Build as a container

# go to the ROS package directory
cd <path/to/package>

# build
podman build -t <repo:tag> .

Deploy to the k8s

• on k8s CP

# go to the ROS package directory
kubectl apply -f yaml/<deployment.yaml>

Verify deployment & operation

• on k8s CP

# verify pod deployment
kubectl -nsdi-ros-system get pod -A

# check pod logs
kubectl -nsdi-ros-system logs -f <pod-name>