Robotic logistics

Kubernetes manifest files for simulation of a Robotnik RB-theron on ROS2

Requirements

• Kubernetes >=1.25
• Ingress controller
• kubectl
• Helm

Deployment

Helm chart

Helm chart documentation

helm repo

helm repo add fluidos-robotic-uc https://fluidos-project.github.io/robotic-logistics-use-case
helm repo update
helm upgrade --install test fluidos-robotic-uc/rb-theron-sim

local development

git clone https://github.com/fluidos-project/robotic-logistics-use-case.git
cd robotic-logistics-use-case/helm
helm upgrade --install test ./rb-theron-sim  -f rb-theron-sim/values-iron-zenoh.yaml

classic

git clone https://github.com/fluidos-project/robotic-logistics-use-case.git
cd robotic-logistics-use-case/k8s
kubectl create namespace robots
kubectl apply -f pseudo-chart

nginx ingress controller install

cd helm-ingress-nginx
helm repo add ingress-nginx https://kubernetes.github.io/ingress-nginx
helm upgrade \
 --install ingress-nginx ingress-nginx \
 --repo https://kubernetes.github.io/ingress-nginx \
 --namespace ingress-nginx \
 --create-namespace \
 -f values.yaml

Usage

You can command the robot through rviz accessing the ingress Loadbalancer ip or url:

Step 1

Step 2

Step 3

Step 4

you also can access the gazebo interface using the ingress loadbalancer ip with path gazebo

Step 1

Step 2