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ros1-multinode-hostnic.yaml
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ros1-multinode-hostnic.yaml
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############################
### 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/$ROS_DISTRO/setup.bash && roscore"]
imagePullPolicy: IfNotPresent
hostNetwork: true
nodeSelector:
nodetype: master
tolerations:
- key: node-role.kubernetes.io/master
operator: Exists
effect: NoSchedule
- key: node-role.kubernetes.io/control-plane
operator: Exists
effect: NoSchedule
---
##################
### ROS talker ###
##################
apiVersion: apps/v1
kind: Deployment
metadata:
name: talker-deployment
labels:
app: ros1
node: talker
spec:
replicas: 1
selector:
matchLabels:
node: talker
template:
metadata:
labels:
node: talker
spec:
containers:
- name: publisher
tty: true
image: tomoyafujita/ros:noetic
command: ["/bin/bash", "-c"]
args: ["source /opt/ros/$ROS_DISTRO/setup.bash && until rostopic list; do sleep 1; done && rosrun roscpp_tutorials talker"]
imagePullPolicy: IfNotPresent
env:
- name: ROS_MASTER_URI
value: http://tomoyafujita-HP-Compaq-Elite-8300-SFF:11311
hostNetwork: true
nodeSelector:
nodetype: worker
---
####################
### 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://tomoyafujita-HP-Compaq-Elite-8300-SFF:11311
hostNetwork: true
nodeSelector:
nodetype: worker