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ros2-turtlesim.yaml
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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