dorknet ssh updates for remote roslaunch

docker/yolo/Dockerfile

@@ -3,7 +3,7 @@ FROM nvcr.io/nvidia/l4t-base:r32.4.3
 ENV DEBIAN_FRONTEND="noninteractive"
 
 # ros install, since we need to start with nvcr
-RUN apt-get update && apt-get install -y lsb-release curl gnupg ca-certificates nano net-tools
+RUN apt-get update && apt-get install -y lsb-release curl gnupg ca-certificates nano net-tools openssh-server
 RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 #RUN echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
@@ -14,6 +14,14 @@ RUN apt-get update && apt-get install -y ros-melodic-ros-base python3-catkin-too
 # copy over entrypoint
 COPY ./ros_entrypoint.sh /ros_entrypoint.sh
 
+# set up ssh server for remote roslaunch option
+RUN mkdir /var/run/sshd
+RUN echo 'root:Meepp973' | chpasswd
+RUN sed -i 's/#PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config
+RUN sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
+EXPOSE 22
+# and dont forget to run sshd on starting: CMD ["/usr/sbin/sshd", "-D"]
+
 # opencv install
 RUN apt-get update && \
 apt-get install -y opencv-data libopencv-dev

kubernetes/dorknet-deployment.yaml

+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: dorknet
+  labels:
+    app: cluster
+    node: dorknet
+spec:
+  replicas: 1
+  selector:
+    matchLabels:
+      node: dorknet
+      app: cluster
+  template:
+    metadata:
+      labels:
+        node: dorknet
+        app: cluster
+    spec:
+      hostname: dorknet
+      tolerations:
+      - key: "node-role.kubernetes.io/master"
+        effect: "NoSchedule"
+        operator: "Exists"
+      - key: "node-role.kubernetes.io/control-plane"
+        effect: "NoSchedule"
+        operator: "Exists"
+      - key: "node.kubernetes.io/disk-pressure"
+        effect: "NoSchedule"
+        operator: "Exists"
+      volumes:
+      - name: image-storage
+        hostPath:
+          path: /home/larkin/Downloads
+      terminationGracePeriodSeconds: 3
+      containers:
+      - name: dorknet
+        securityContext:
+          privileged: true
+        volumeMounts:
+        - name: image-storage
+          mountPath: /tmp
+        image: localhost:5000/dorknet:latest
+        imagePullPolicy: IfNotPresent
+        command: ["/bin/bash"]
+        args: ["-c", "source /opt/ros/noetic/setup.bash && source /catkin_ws/devel/setup.bash && echo ready && /usr/sbin/sshd -D"]
+        ports:
+        - containerPort: 11311
+          name: dorkport
+      nodeSelector:
+        kubernetes.io/hostname: mario
+        # kubernetes.io/hostname: neruda
+        # kubernetes.io/hostname: sentinel
+---
+
+apiVersion: v1
+kind: Service
+metadata:
+  name: service-dorknet
+  labels:
+    app: cluster
+    node: dorknet
+spec:
+  clusterIP: None
+  ports:
+    - port: 11311
+      name: dorkport
+  selector:
+    node: dorknet
+    app: cluster