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East-West Edge-to-Edge Networking

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Environmental Information (CentOS8.0 4U8G)

Username & Password: root/Akraino2021

Deployment Manual

Deploy cloud nodes (kubeEdge-cloud)

• Disable boot firewall

# systemctl disable firewalld

• Install Docker

# yum install wget container-selinux -y

# wget https://download.docker.com/linux/centos/7/x86_64/stable/Packages/containerd.io-1.2.6-3.3.el7.x86_64.rpm

# yum erase runc -y

# rpm -ivh containerd.io-1.2.6-3.3.el7.x86_64.rpm

Note: The above steps do not need to be operated in centos7

# update-alternatives --set iptables /usr/sbin/iptables-legacy

# yum install -y yum-utils device-mapper-persistent-data lvm2 && yum-config-manager --add-repo https://download.docker.com/linux/centos/docker-ce.repo && yum makecache

# yum -y install docker-ce

# systemctl enable docker.service && systemctl start docker

• Configure yum source

[root@kubeEdge-cloud ~]# cat <<EOF > /etc/yum.repos.d/kubernetes.repo

[kubernetes]

name=Kubernetes

baseurl=https://mirrors.aliyun.com/kubernetes/yum/repos/kubernetes-el7-x86_64

enabled=1

gpgcheck=1

repo_gpgcheck=1

gpgkey=https://mirrors.aliyun.com/kubernetes/yum/doc/yum-key.gpg https://mirrors.aliyun.com/kubernetes/yum/doc/rpm-package-key.gpg

EOF

• Install Kubeadm, kubectl

# yum makecache

# yum install kubelet-1.21.0-0.x86_64 kubeadm-1.21.0-0.x86_64 kubectl-1.21.0-0.x86_64

Note: The current KubeEdge version does not match the 1.22 version of K8s, and the latest version cannot be installed.

• Configure the kernel parameters

[root@kubeEdge-cloud ~]# cat <<EOF >  /etc/sysctl.d/k8s.conf

net.bridge.bridge-nf-call-ip6tables = 1

net.bridge.bridge-nf-call-iptables = 1

vm.swappiness=0

EOF

[root@kubeEdge-cloud ~]# sysctl --system

[root@kubeEdge-cloud ~]# modprobe br_netfilter

[root@kubeEdge-cloud ~]# sysctl -p /etc/sysctl.d/k8s.conf

Load ipvs related kernel modules

If you reboot, you need to reload (it can be written in /etc/rc.local to automatically load at boot)

[root@ke-cloud ~]# modprobe ip_vs

[root@ke-cloud ~]# modprobe ip_vs_rr

[root@ke-cloud ~]# modprobe ip_vs_wrr

[root@ke-cloud ~]# modprobe ip_vs_sh

[root@ke-cloud ~]# modprobe nf_conntrack_ipv4

Check whether loading is successful

[root@ke-cloud ~]# lsmod | grep ip_vs

• Pull Mirror

[root@kubeEdge-cloud ~]# kubeadm config images list

[root@kubeEdge-cloud ~]# kubeadm config images pull

• Initialize the cluster

[root@ke-cloud ~]# kubeadm init --kubernetes-version=v1.17.9 \

--pod-network-cidr=10.244.0.0/16 \

                      --apiserver-advertise-address=192.168.0.238 \

                    --ignore-preflight-errors=Swap

• Deploy Cloudcore

Prerequisites: install golang

[root@kudeEdge-cloud ~]# git clone https://github.com/kubeedge/kubeedge $GOPATH/src/github.com/kubeedge/kubeedge

[root@kudeEdge-cloud ~]# cd $GOPATH/src/github.com/kubeedge/kubeedge

[root@kudeEdge-cloud ~]# make all WHAT=keadm

[root@kudeEdge-cloud ~]# keadm init --advertise-address="192.168.0.238"

Deploy edge nodes (edgemesh version is release1.7)

• Install docker same as before
• Obtain the token on the cloud node

[root@kudeEdge-cloud ~]# keadm gettoken

• Install edgecore and mqtt

[root@kudeEdge-cloud ~]# keadm join --cloudcore-ipport=192.168.1.66:10000 --token=“上一步骤获取的token”

--token="token obtained in the previous step"

• Modify the edgecore configuration

[root@kudeEdge-cloud ~]# vim /etc/kubeedge/config/edgecore.yaml

modules:

  ..

  edgeMesh:

    enable: false

  metaManager:

    metaServer:

      enable: true

..

• Restart edgecore

[root@kudeEdge-cloud ~]# systemctl restart edgecore

• Modify cloudcore configuration and restart cloudcore

[root@kudeEdge-cloud ~]# vim /etc/kubeedge/config/cloudcore.yaml

modules:

  ..

  dynamicController:

    enable: true

..

• Pull EdgeMesh code and build EdgeMesh image

[root@kudeEdge-cloud ~]# docker build -t edgemesh:0.1 -f build/Dockerfile .

• Deploy EdgeMesh

Modify the following configuration file, modify service-cluster-ip-range.

[root@kudeEdge-cloud ~]# kubectl apply -f build/kubernetes/edgemesh/03-configmap.yaml

[root@kudeEdge-cloud ~]# kubectl apply -f build/kubernetes/edgemesh/04-daemonset.yaml

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Deploy ROS application

• Create ros-deployment-master.yaml and deploy

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• Create ros-deployment-slave.yaml and deploy

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• Create ros-master-service.yaml and deploy

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• ros application master node operation

  • Open the master node page, http://182.160.10.130:80

  • Refer to the operation of https://hub.docker.com/r/njh1195/ros-vnc:

    • Open the terminal page and execute "roscore" to start roscore
    • Open the second terminal page and execute "roslaunch turtlebot3_gazebo multi_turtlebot3.launch”
    • multi_turtlebot3.launch" to start three simulation robots
    • Open the third terminal page and execute "ROS_NAMESPACE=tb3_0 roslaunch
    • turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_0/base_footprint set_odom_frame:=tb3_0/odom set_map_frame:=tb3_0/map”, set_map_frame:=tb3_0/map" to start the first robot scan on the master node.

    • Open the fourth terminal page and execute "roslaunch turtlebot3_gazebo

    • multi_map_merge.launch" to open the merge program.

    • Generate a point source map and execute "rosrun rviz rviz -d `rospack find

    • turtlebot3_gazebo`/rviz/multi_turtlebot3_slam.rviz”

• ros application master node operation

  • Open the slave node page, http://159.138.49.1:80

  • Refer to the operation of https://hub.docker.com/r/njh1195/ros-vnc:

    • Open the terminal page and configure ros-master's access service. The file is in /root/.bashrc.

Add the following configuration at the end of the file to configure the master access address and slave address:

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• • • Open the second terminal page and execute "ROS_NAMESPACE=tb3_1 roslaunch
    • turtlebot3_slam turtlebot3_gmapping.launch

set_base_frame:=tb3_1/base_footprint set_odom_frame:=tb3_1/odom

set_map_frame:=tb3_1/map", open the graphic scan of another room.

• • • Check whether the point source graph is Merged in the master node.

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