...
[root@kudeEdge-cloud ~]# kubectl apply -f build/kubernetes/edgemesh/04-daemonset.yaml
Deploy ROS application
Create ros-deployment-master.yaml and deploy
Create ros-deployment-slave.yaml and deploy
Create ros-master-service.yaml and deploy
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:
- 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.
