RB1 BASE cloud simulation

This repository contains all necessary files to deploy Robotnik RB1 base simulation on kubernetes.

Features

It includes the following:

• World simulation using gazebo
• RB1 Base simulation spawner
• amcl localization and map server
• move-base navigation
• Web gazebo client
• Web full rviz
• SSH terminal access to dedicated container

Requirements

In order to deploy this simulation you will need:

• kubernetes cluster >= 1.21
• Access to the 5G-era private registry
• kubectl tool

Deployment instructions

Downloading the manifest files

git clone https://github.com/5G-ERA/rb1_base_simulation_k8s.git
cd rb1_base_simulation_k8s

Constant manifest files

In order to deploy use the only for the first time the following command:

kubectl apply -f first-time/

This command deploys the services (including the load balancers) that should be active all the time and not change.

Deploying the Simulation

In order to deploy the simulation use the following command:

kubectl apply -f pseudo-chart/

Checking that simulation is fully available

Check the state of the deployment using the following command:

kubectl get pods

Wait until everything should be on state "RUNNING" and READY

Undeploying the simulation

In order to destroy the simulation use the following command:

kubectl delete -f pseudo-chart/

This will destroy all pods and configuration files. But the services will remain active.

Destroying the simulation

In order to fully destroy the simulation on the cluster including the loadbalancers use the following commands:

kubectl delete -f pseudo-chart/
kubectl delete -f first-time/

Interaction with simulation

Gazebo

For obtaining the gazebo client URL use the following commands

echo "gazebo client website:"
echo http://$(kubectl get svc robot-gazebo-client-vnc -o jsonpath="{.status.loadBalancer.ingress[0].hostname}")

Paste the output on your browser new tab or window

Rviz

For obtaining the rviz URL use the following commands:

echo "Rviz client website:"
echo http://$(kubectl get svc robot-rviz-vnc -o jsonpath="{.status.loadBalancer.ingress[0].hostname}")

Paste the output on your browser new tab or window

Terminal

For obtaining the rviz URL use the following commands:

echo "Rviz client website:"
echo ssh ros@$(kubectl get svc robots-ssh-server -o jsonpath="{.status.loadBalancer.ingress[0].hostname}")

Use this url to connect to ssh to and interact using ros comands

The default password is ros-client-password