Package Creation Tutorial

To add a new package using rapyuta.io, follow the steps:

  1. Click CATALOG > ADD NEW PACKAGE.
  2. Package information contains the basic information of a package like the name of the package, its version, and a summary of the package.
    1. In the Package Name box, type in the name for the package. For instance, let’s call the package as Demo Package.
    2. In the Package Version box, enter the version of the package. It is set to 1.0.0 by default.
    3. Ensure that Is a singleton package is not selected.
    4. Ensure that Is bindable package checkbox is selected.
    5. It is optional to describe the package in the Description box.
  3. Click NEXT.
  4. Components contains details about the package’s components and executables of each component. Fill in the COMPONENT METADATA information.
    1. In the Component Name box, enter the name of the component. For example, Talker.

      The name of a component must consist of alphabets [A-Z, a-z], digits [0-9] and an underscore _ character, and must not begin with a digit.

    2. A component of a package can either have a device runtime or a cloud runtime. Select Cloud as Component Runtime in this example.
    3. Ensure that Is ROS Component is selected.
    4. Ensure that the value of the Replicas to run the component is set to the default value 1 Component metadata
  5. Add one or more EXECUTABLES to the component.
    1. In the Executable Name box, type in the name of the executable, say talkerExecutable.

      The name of an executable must consist of alphabets [A-Z, a-z], digits [0-9] and an underscore _ character, and must not begin with a digit.

    2. An executable can be either a source code in a git repository or a Dockerfile or a docker image. In this example, you will provide source code as the executable. So, select Git as the Executable Type.

      The maximum size of the docker image is 10 GB for cloud deployment

    3. In the Git Repository box, enter the git repository’s URL address:https://github.com/rapyuta/io_tutorials
    4. In the Command to run in the docker container box, enter the command:roslaunch talker talker.launch
      Ensure that you always execute the roslaunch command to explicitly start the ROS Master instead of running the rosrun command, because the ROS Master will fail to start on rosrun command in the console, and eventually, the deployment will fail. Executable information
  6. Add a ROS topic by clicking Add ROS topic, specify the name of the ROS topic in the Name box, and choosing Maximum QoS. In this example, the ROS topic /telemetry is added. Add ROS topic
  7. To add another component to the same package, click + as shown in the image and repeat instructions in steps 4 through 6. Add another component
  8. Click NEXT > CONFIRM PACKAGE CREATION.

A flickering yellow dot next to the newly added package indicates that its Build Status is BuildInProgress. You have successfully added the package when the dot turns green in color, which indicates that the package is successfully built and is ready to be deployed.

Additionally, the package is successfully built and is ready to be deployed when the Deploy package button is enabled.

Demo package

You can download the manifest of the package by clicking Download Manifest. You may also clone the package if you want to modify it by clicking Clone Package. You can trigger a new build by clicking Trigger build and deploy the package by clicking Deploy package.