ROS Routed Network

Learning Objective

The tutorial will show you how to create a ROS routed networks deployed to cloud or a device. It will also explain other actions you can take on a created network.

Prerequisites

  1. Install the Chrome web browser on a computer.
  2. You should be familiar with onboarding a device on rapyuta.io
  3. Device requirements
    1. AMD64 CPU architecture.
    2. An active internet connection.
    3. Onboarded onto rapyuta.io with runtime Docker Compose

Difficulty

Intermediate

Estimated Time

30 minutes

Creating Cloud Routed Network

Follow these steps to create a cloud routed network.

  1. On the left navigation bar, click NETWORKS.
  2. Click ADD NEW ROUTED NETWORK.
  3. Enter a name for routed network.
  4. Select ROS Distro, as either Kinetic or Melodic based on ROS version of package components it will be binding to.
  5. Select the Runtime as Cloud. goo
  6. Click CONTINUE.

Creating Device Routed Network

Follow these steps to create a device routed network. Make sure you have a rapyuta.io registered device with docker runtime and AMD64 architecture available.

  1. On the left navigation bar, click NETWORKS.
  2. Click ADD NEW ROUTED NETWORK.
  3. Enter a name for routed network.
  4. Select ROS Distro, as either Kinetic or Melodic based on ROS version of package components it will be binding to.
  5. Select the Runtime as Device.
  6. You will see a list of online device with docker runtime and AMD64 architecture in the drop-down list. Select the Device and it’s IP Interface.
  7. Select the Restart policy. goo
  8. Click CONTINUE.

Deploying a routed network is identical to deploying any other package and has identical corresponding phases and errors. Once the routed network deployment succeeds, other ROS package deployments can bind to it and communicate. goo

Deleting Routed Network

Only network not bound to any running deployments can be deleted.

  1. On the left navigation bar, click NETWORKS. It will display all the routed networks in a given project.
  2. Select the routed network which you want to delete.
  3. Click on Delete.
  4. Confirm on the routed network deletion message.

    An attempt to deprovision a network that is currently being used will result in an error.

Follow this walkthrough to bind routed networks to ROS package deployments.