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Yuanzhao Zhai 696ed18b16 | 2 years ago | |
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.idea | 3 years ago | |
app | 3 years ago | |
base-image | 3 years ago | |
cloudproxy | 4 years ago | |
coding_test | 4 years ago | |
database | 4 years ago | |
manual | 4 years ago | |
rosbridge | 4 years ago | |
test-case | 4 years ago | |
upload/install | 4 years ago | |
.buildimages.sh.swp | 4 years ago | |
.gitignore | 4 years ago | |
.gitmodules | 4 years ago | |
.project | 4 years ago | |
.pydevproject | 4 years ago | |
.rosdep.py.swp | 4 years ago | |
Dockerfile | 4 years ago | |
LICENSE | 4 years ago | |
README.md | 2 years ago | |
buildimages.sh | 4 years ago | |
config.py | 3 years ago | |
initdb.py | 4 years ago | |
requirements.txt | 4 years ago | |
rosdep.py | 4 years ago | |
run.py | 4 years ago | |
test.py | 4 years ago |
Cloudroid Swarm is a cloud robotic platform which supports the direct deployment of ROS software packages onto the cloud. Basically, it can be regarded as a PAAS platform which adopts the ROS application model. A ROS package can be covnerted into a cloud service automatically. The robotic applications can access the cloud service remotely in an on-demand style through a WebSocket protocol.
The service access is purely based on a cloud service paradigm, which means that you need not concern ROS master and other configurations. Multiple robots can access a service simultaneously, for example, to build their own map respectively. The robotic apllications which access the cloud services also need no modification, because Cloudrid can generate a stub ROS package with the same interface of the original ROS package, which acts as a local proxy of the remote cloud service.
By adopting kubernetes and docker container technology in the back-end, a ROS package which is orignally designed for a single robot can serve multiple robots simultaneously by dynamically instantiation of the servant in the cloud. And by specifying the resource demand of the ROS package (e.g., mem, CPU, etc.), the quaility of a service can be assured by the internal mechanisms of Cloudroid.
Please contact us through yuanzhaozhai@126.com. Any feedback would be greatly appreciated.
Cloudroid Swarm is built and tested on Ubuntu 18.04, ROS melodic, but it's easy to migrate to other versions.
Since it currently based on kubernetes and Docker, Docker must be installed on each host nodes, and kubernetes must be deployed in the cluster.
Add user to the Docker group, then restart the Docker engine:
sudo addgroup $USER docker
docker run -d -p 5000:5000 --restart=always --name registry registry:2
sudo apt-get update
sudo apt-get install python-dev python-pip python-tk git zip unzip
sudo pip install pip --upgrade
cd Cloudroid_Swarm/
sudo pip install -r requirements.txt
base-image
directory, push it to the local docker registry: cd Cloudroid_Swarm/base-image/
docker build .
docker tag $(docker images -q | head -n1) ros:my
docker tag ros:my localhost:5000/ros:my
docker push localhost:5000/ros:my
cd Cloudroid_Swarm/database
mysql -u$USERNAME -pPASSWORD -Dcloudroid ./create_cloudroid_tables.sql
cd ..
python run.py
在Cloudroid的基础上,实现多机器人协同卸载。基于kubernetes和kubeedge,实现云边端协同。
Python Makefile SVG CMake Text other
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