first custom working ros cluster!

kubernetesPython/hello-python/app/Dockerfile

-FROM python:3.7
-
-RUN mkdir /app
-WORKDIR /app
-ADD . /app/
-RUN pip install -r requirements.txt
-
-EXPOSE 5000
-CMD ["python", "/app/main.py"]

llhApproach/docker/node/Dockerfile

@@ -30,13 +30,13 @@ RUN catkin config \
     catkin build \
       roscpp_tutorials
 
-COPY check_roscore.py /usr/local/bin/check_roscore.py
+COPY bashCheckRoscore.sh /usr/local/bin/bashCheckRoscore.sh
 COPY ros_entrypoint.sh /usr/local/bin/ros_entrypoint.sh
 
-RUN chmod 755 /usr/local/bin/check_roscore.py &&\
-    chmod 755 /usr/local/bin/ros_entrypoint.sh
+RUN chmod 755 /usr/local/bin/bashCheckRoscore.sh && chmod 755 /usr/local/bin/ros_entrypoint.sh
 
 ENTRYPOINT ["/usr/local/bin/ros_entrypoint.sh"]
+# CMD [""]
 CMD ["bash"]
 
 # run ros package launch file

llhApproach/docker/node/bashCheckRoscore.sh

+#!/bin/bash
+# set -e
+# make sure to source ros work space so we can use the rostopic command
+FILE="./resp.txt"
+OUT="confirm"
+until [[ $OUT != "confirm" ]]
+do
+rostopic list &> $FILE
+echo $OUT
+OUT=$(awk '/ERR/ { print "confirm" }' $FILE)
+sleep 1
+done
+
+echo "found roscore!"
+rm $FILE
+# exit 1

llhApproach/docker/node/check_roscore.py

 #!/usr/bin/env python3
 
 import sys
-import rosgraph
+import rospy
 
-if not rosgraph.is_master_online():
+if rospy.is_shutdown():
     print("Waiting roscore ...")
     sys.exit(1)
 
+# if not rosgraph.is_master_online():
+#     print("Waiting roscore ...")
+#     sys.exit(1)
+
 print("roscore found!")

llhApproach/kubernetes/listener-deployment.yaml

@@ -24,24 +24,22 @@ spec:
       # and tries to connect to the rocore which is running in
       # a container in the master pod deployment.
       # https://kubernetes.io/docs/concepts/workloads/pods/init-containers/
-      initContainers:
-      - name: init-service-listener
-        image: llhcluster/node:v0
-        args:
-        - check_roscore.py
-        env:
-        - name: ROS_MASTER_URI
-          value: http://service-master:11311
-        - name: ROS_HOSTNAME
-          value: service-listener
+          # initContainers:
+          # - name: init-service-listener
+          #   image: llh/node:v0
+          #   args:
+          #   - bashCheckRoscore.sh
+          #   env:
+          #   - name: ROS_MASTER_URI
+          #     value: http://service-master:11311
+          #   - name: ROS_HOSTNAME
+          #     value: service-listener
       containers:
       # The real node container
       - name: llhclusterpublisher
-        image: llhcluster/node:v0
-        args:
-        - rostopic
-        - echo
-        - chatter
+        image: llh/node:v0
+        command: ["/bin/bash"]
+        args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/bashCheckRoscore.sh && rostopic echo /chatter"]
         env:
         - name: ROS_MASTER_URI
           value: http://service-master:11311
@@ -55,15 +53,12 @@ spec:
         # This is required because the node doesn't fail automatically
         # when roscore stops / restarts.
         # https://kubernetes.io/docs/tasks/configure-pod-container/configure-liveness-readiness-probes/
-        livenessProbe:
-          exec:
-            command:
-            - entrypoint.sh
-            - /opt/ros/melodic/bin/rostopic
-            - info
-            - chatter
-          initialDelaySeconds: 5
-          periodSeconds: 1
+                        # livenessProbe:
+                        #   exec:
+                        #     command: ["/bin/bash -c 'ros_entrypoint.sh && rostopic info /chatter'"]
+                        #     # args: ["-c", "ros_entrypoint.sh && rostopic info /chatter"]
+                        #   initialDelaySeconds: 3
+                        #   periodSeconds: 3
 
 ---
 

llhApproach/kubernetes/master-deployment.yaml

@@ -20,8 +20,8 @@ spec:
         node: roscore
     spec:
       containers:
-      - name: llhclustermaster
-        image: llhcluster/master:v0
+      - name: roscore
+        image: llh/master:v0
         args:
         - roscore
         ports:

llhApproach/kubernetes/talker-deployment.yaml

@@ -24,27 +24,22 @@ spec:
       # and tries to connect to the rocore which is running in
       # a container in the master pod deployment.
       # https://kubernetes.io/docs/concepts/workloads/pods/init-containers/
-      initContainers:
-      - name: init-service-talker
-        image: llhcluster/node:v0
-        args:
-        - check_roscore.py
-        env:
-        - name: ROS_MASTER_URI
-          value: http://service-master:11311
-        - name: ROS_HOSTNAME
-          value: service-talker
+          # initContainers:
+          # - name: init-service-talker
+          #   image: llh/node:v0
+          #   args:
+          #   - bashCheckRoscore.sh
+          #   env:
+          #   - name: ROS_MASTER_URI
+          #     value: http://service-master:11311
+          #   - name: ROS_HOSTNAME
+          #     value: service-talker
       containers:
       # The real node container
       - name: llhclusterpublisher
-        image: llhcluster/node:v0
-        args:
-        - "rostopic"
-        - "pub"
-        - "-r 1"
-        - "chatter"
-        - "std_msgs/String"
-        - "Hello, world"
+        image: llh/node:v0
+        command: ["/bin/bash"]
+        args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/bashCheckRoscore.sh && rostopic pub -r 1 chatter std_msgs/String 'hello worl'"]
         env:
         - name: ROS_MASTER_URI
           value: http://service-master:11311
@@ -58,15 +53,16 @@ spec:
         # This is required because the node doesn't fail automatically
         # when roscore stops / restarts.
         # https://kubernetes.io/docs/tasks/configure-pod-container/configure-liveness-readiness-probes/
-        livenessProbe:
-          exec:
-            command:
-            - entrypoint.sh
-            - /opt/ros/melodic/bin/rostopic
-            - info
-            - chatter
-          initialDelaySeconds: 5
-          periodSeconds: 1
+                            # livenessProbe:
+                            #   exec:
+                            #     command: ["/bin/bash -c 'ros_entrypoint.sh && rostopic info /chatter'"]
+                            #     # command:
+                            #     # - ros_entrypoint.sh
+                            #     # - /opt/ros/melodic/bin/rostopic
+                            #     # - info
+                            #     # - chatter
+                            #   initialDelaySeconds: 3
+                            #   periodSeconds: 3
 
 ---