Binding

Catalog supports package composition - combining two or more packages to create a new package. Composing packages requires binding the packages together into one package. If a package depends on another package or deployment of another package, the package bindings link the package to its dependencies.

A package binding is a set of configuration parameters and network endpoints that a package exposes to its dependencies. rapyuta.io implicitly injects the exposed parameters and network endpoints into packages, which depend on another package or its deployments, as environment variables.

For example, a database package exposes a network endpoint - HOST_AND_PORT (endpoint with both host IP address and port number), and the configuration parameters - USER, PASSWORD and DATABASE_NAME. Any package that depends on the database package may use the exposed parameters and network endpoint. A robot_management package binds to the database package if the former package relies on deployment of the latter package. Then, the package bindings of the dependent deployment (in this case, database) are automatically injected into the running instance of the robot_management. It implies that all of the executables of the robot_management may consume the HOST_AND_PORT, USER, PASSWORD and DATABASE_NAME as environment variables.

Bindable Attribute

A boolean attribute that is set while adding a package. When set to true for a package with two or more ROS components, the components successfully communicate through ROS interfaces.

It also determines whether a deployment of a package can be used as a dependent deployment of other deployments. If set false, the deployment of the package cannot be used as a dependent deployment of another deployment.

It also determines whether a package can be added as an include package. If set false, the package cannot be used as an include package.

Communication Linking

To facilitate communication between deployments that are bound, rapyuta.io implements various communication topologies. To learn more of the implication please refer the section on communication topologies.