Page Comparison

...

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

Image Added

Deploy ROS application

• Create ros-deployment-master.yaml and deploy

Image Added

• Create ros-deployment-slave.yaml and deploy

Image Added

• Create ros-master-service.yaml and deploy

Image Added

• 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:

Image Added

• • • 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.

Image Added