🎈 perf(k8s): deploy for multi platform

.gitmodules

@@ -1,3 +1,6 @@
+[submodule "AutoTest"]
+ path = AutoTest
+ url = [email protected]:autocore-ai/ats-script.git
 [submodule "Autoware"]
  path = Autoware
  url = [email protected]:autocore-ai/AutowareArchitectureProposal.git
@@ -7,6 +10,9 @@
 [submodule "RSU"]
  path = RSU
  url = [email protected]:autocore-ai/RSU.git
+[submodule "Utils/mcu"]
+ path = Utils/mcu
+ url = [email protected]:autocore-ai/pcu_mcu_hal.git
 [submodule "Utils/zenoh"]
  path = Utils/zenoh
  url = [email protected]:autocore-ai/zenoh.git

sdv_demo.yaml

@@ -11,7 +11,7 @@ metadata:
  labels:
  app: autoware
 spec:
- replicas: 1
+ replicas: 2
  selector:
  matchLabels:
  app: autoware
@@ -21,158 +21,169 @@ spec:
  labels:
  app: autoware
  spec:
+ hostNetwork: true
  nodeSelector:
  app: autoware
  volumes:
  - name: volume
  emptyDir: {}
  containers:
- - name: zenoh-bridge-dds
- image: autocore/zenoh-bridge-dds:sdv
- command: ["/bin/bash"]
- args: ["-c", "export ROS_DOMAIN_ID=${HOSTNAME##*-} && /root/zenoh-plugin-dds/target/release/dzd --scope /demo/dds -m peer"]
+ - name: zenoh-plugin-dds
+ image: autocore/zenoh-plugin-dds:sdv
+ imagePullPolicy: Always
+ command: ["/bin/sh"]
+ args:
+ [
+ "-c",
+ "exec zenoh-bridge-dds --scope /demo/dds -m peer -d 2${POD_NAME##*-}",
+ ]
  env:
- - name: RMW_IMPLEMENTATION
- value: rmw_cyclonedds_cpp
- - name: RUST_LOG
- value: info
+ - name: POD_NAME
+ valueFrom:
+ fieldRef:
+ fieldPath: metadata.name
+ resources:
+ limits:
+ memory: "1Gi"
+ cpu: "2000m"
  - name: sdk
  image: autocore/autoware-architecture-proposal-sdk:sdv
+ imagePullPolicy: Always
  volumeMounts:
  - name: volume
  mountPath: /AutowareArchitectureProposal
  command: ["/bin/bash"]
- args: ["-c", "export ROS_DOMAIN_ID=${HOSTNAME##*-} && cd /AutowareArchitectureProposal && source install/setup.bash && ros2 launch sdv_demo_launch sdv_demo.launch.xml"]
+ args:
+ [
+ "-c",
+ "export ROS_DOMAIN_ID=2${POD_NAME##*-} && cd /AutowareArchitectureProposal && source install/setup.bash && ros2 launch sdv_demo_launch sdv_demo.launch.xml",
+ ]
  env:
- - name: RMW_IMPLEMENTATION
- value: rmw_cyclonedds_cpp
+ - name: RMW_IMPLEMENTATION
+ value: rmw_cyclonedds_cpp
+ - name: POD_NAME
+ valueFrom:
+ fieldRef:
+ fieldPath: metadata.name
+ resources:
+ limits:
+ memory: "4Gi"
+ cpu: "4000m"
  initContainers:
  - name: exe
  image: autocore/autoware-architecture-proposal-exe:sdv
+ imagePullPolicy: Always
  command: ["/bin/sh"]
  args: ["-c", "mv /AutowareArchitectureProposal/install /volume/"]
  volumeMounts:
  - name: volume
  mountPath: /volume
  - name: env
  image: autocore/autoware-architecture-proposal-env:sdv
+ imagePullPolicy: Always
  command: ["/bin/sh"]
  args: ["-c", "mv /AutowareArchitectureProposal/env /volume/"]
  volumeMounts:
  - name: volume
  mountPath: /volume
 ---
 apiVersion: apps/v1
-kind: StatefulSet
+kind: Deployment
 metadata:
- name: rsu
+ name: storage
  namespace: sdv
  labels:
- app: rsu
+ app: storage
 spec:
- replicas: 1
  selector:
  matchLabels:
- app: rsu
- serviceName: "sdv"
+ app: storage
  template:
  metadata:
  labels:
- app: rsu
+ app: storage
  spec:
+ hostNetwork: true
  nodeSelector:
  app: host
  containers:
- - name: rsu
- image: autocore/rsu:sdv
- env:
- - name: HOST_IP
- valueFrom:
- fieldRef:
- fieldPath: status.hostIP
- - name: RUST_LOG
- value: info
+ - name: storage
+ image: eclipse/zenoh:latest
+ command: ["/bin/sh"]
+ args: ["-c", "exec /zenohd --mem-storage=/**"]
+ resources:
+ limits:
+ memory: "512Mi"
+ cpu: "500m"
+ ports:
+ - name: http
+ containerPort: 8000
+ protocol: TCP
 ---
 apiVersion: apps/v1
-kind: StatefulSet
+kind: Deployment
 metadata:
- name: storage
+ name: rsu
  namespace: sdv
  labels:
- app: storage
+ app: rsu
 spec:
- replicas: 1
  selector:
  matchLabels:
- app: storage
- serviceName: "sdv"
+ app: rsu
  template:
  metadata:
  labels:
- app: storage
+ app: rsu
  spec:
  hostNetwork: true
  nodeSelector:
  app: host
  containers:
- - name: storage
- image: autocore/zenoh:sdv
- ports:
- - name: http
- containerPort: 8000
- protocol: TCP
+ - name: rsu
+ image: autocore/rsu:develop
+ imagePullPolicy: Always
+ resources:
+ limits:
+ memory: "512Mi"
+ cpu: "500m"
  env:
- - name: RUST_LOG
- value: info
+ - name: HOST_IP
+ valueFrom:
+ fieldRef:
+ fieldPath: status.hostIP
+ - name: RUST_LOG
+ value: info
 ---
 apiVersion: apps/v1
-kind: StatefulSet
+kind: Deployment
 metadata:
  name: autotest
  namespace: sdv
  labels:
  app: autotest
 spec:
- replicas: 1
  selector:
  matchLabels:
  app: autotest
- serviceName: "sdv"
  template:
  metadata:
  labels:
  app: autotest
  spec:
+ hostNetwork: true
  nodeSelector:
- app: autoware
+ app: host
  containers:
  - name: autotest
- image: kaka1223/autotest:native
+ image: autocore/autotest:sdv
  imagePullPolicy: Always
+ resources:
+ limits:
+ memory: "2Gi"
+ cpu: "2000m"
  env:
  - name: HOST_IP
  valueFrom:
  fieldRef:
  fieldPath: status.hostIP
----
-kind: ClusterRole
-apiVersion: rbac.authorization.k8s.io/v1
-metadata:
- name: monitor
-rules:
-- apiGroups: [""]
- resources: ["pods"]
- verbs: ["list", "watch"]
----
-kind: ClusterRoleBinding
-apiVersion: rbac.authorization.k8s.io/v1
-metadata:
- name: monitor
-subjects:
-- kind: ServiceAccount
- name: default
- namespace: sdv
-roleRef:
- kind: ClusterRole
- name: monitor
- apiGroup: rbac.authorization.k8s.io