For testing ROS(Robot Operating System) workload, the program in this repo is referred to following materials
- Running ROS core first
Other ROS processors require to register to core processor, which helps to pass message and manage the other processors.
### commands to run ROS core
$ roscore
ROS core will listen on port 11311 by default.
- The command format of running ROS processors has following format:
rosrun ROS_PACKAGE COMMAND
We may check the installed package by:
$ rospack list-names
- Running pubsub demo
- run core processor
- run sub processor
$ rosrun roscpp_tutorials listener
- run pub processor
$ rosrun roscpp_tutorials talker
-
Build container images and push to private registery
-
Run Kubernetes configuration file (under directory
k8s
)
Running core_sub.yml
first to create core processor and subscriber processor, along with Kubernetes Service for Core processor.
Then, running pub.yml
, which creates publisher and its headless service.