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ros2-fastdds-discovery-server.yaml
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###############################################
### ROS 2 Fast-DDS Discovery Primary Server ###
###############################################
apiVersion: apps/v1
kind: Deployment
metadata:
name: discovery-server-primary
labels:
app: ros2-fastdds-discovery
node: server-primary
spec:
replicas: 1
selector:
matchLabels:
node: server-primary
template:
metadata:
labels:
node: server-primary
spec:
containers:
- name: server-primary
tty: true
image: tomoyafujita/ros:rolling
command: ["/bin/bash", "-c"]
args: ["source /opt/ros/$ROS_DISTRO/setup.bash && fastdds discovery --server-id 0 --port 11811"]
#args: ["source /opt/ros/$ROS_DISTRO/setup.bash && fastdds discovery --server-id 0 --port 11811 --backup"]
imagePullPolicy: IfNotPresent
ports:
- containerPort: 11811
name: primary-port
nodeSelector:
node-role.kubernetes.io/control-plane: ""
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 server-primary so that other pods can DNS discovery server cluster IP address dynamically.
apiVersion: v1
kind: Service
metadata:
name: primary-discovery-server
labels:
app: ros2-fastdds-discovery
node: server-primary
spec:
clusterIP: None
#ports:
# - port: 11811
selector:
node: server-primary
---
#################################################
### ROS 2 Fast-DDS Discovery Secondary Server ###
#################################################
apiVersion: apps/v1
kind: Deployment
metadata:
name: discovery-server-secondary
labels:
app: ros2-fastdds-discovery
node: server-secondary
spec:
replicas: 1
selector:
matchLabels:
node: server-secondary
template:
metadata:
labels:
node: server-secondary
spec:
containers:
- name: server-secondary
tty: true
image: tomoyafujita/ros:rolling
command: ["/bin/bash", "-c"]
args: ["source /opt/ros/$ROS_DISTRO/setup.bash && fastdds discovery --server-id 1 --port 11888"]
imagePullPolicy: IfNotPresent
ports:
- containerPort: 11888
name: secondary-port
nodeSelector:
node-role.kubernetes.io/control-plane: ""
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 server-secondary so that other pods can DNS discovery server cluster IP address dynamically.
apiVersion: v1
kind: Service
metadata:
name: secondary-discovery-server
labels:
app: ros2-fastdds-discovery
node: server-secondary
spec:
clusterIP: None
#ports:
# - port: 11888
selector:
node: server-secondary
---