seymour-deploy

container tooling for ros deployment

in memory of seymour papert

dependencies

• linux
• a recent version of docker
• make ($ sudo apt install build-essential)

deploying

the ros packages included in the ./src/ folder will be built and installed into the container image to be deployed to a target system

this repo does not provide tooling to support incremental development (if you are interested in incremental development try seymour-dev)

an excellent way to use the container tooling included here is to stand it up in a cloud build pipeline to run on pushing a new commit to a git repo and to push the resulting container image to a container image registry such as dockerhub

multiarch support

docker can be configured to use qemu to emulate system architectures that differ from the current system architecture

to install qemu multiarch support on an ubuntu system run:

• $ make install-multiarch

then set the "PLATFORM" in the makefile to the architecture to target

for example to target "linux/arm64" (raspberry pi) from a "linux/amd64" (intel) system uncomment this line in the makefile:

#PLATFORM=linux/arm64

and comment out this line:

PLATFORM=linux/amd64

to build and run the docker image in emulation:

• $ make build
• $ make run

ros demo

to run the ros talker - listener demo use two terminal windows

in terminal a (a$):

• a$ make build to build the current source packages inside the container
• a$ make talker-demo to run the talker demo in a new container

in terminal b (b$):

• b$ make listener-demo to run the listener demo in a new container

you should see output in terminal a similar to:

[INFO] [1722471491.552201505] [talker]: Publishing: 'Hello World: 1'
[INFO] [1722471492.552257864] [talker]: Publishing: 'Hello World: 2'
[INFO] [1722471493.552201928] [talker]: Publishing: 'Hello World: 3'
[INFO] [1722471493.552201928] [talker]: Publishing: 'Hello World: 4'

and output in terminal b similar to:

[INFO] [1722471494.552915449] [listener]: I heard: [Hello World: 3]
[INFO] [1722471495.552809036] [listener]: I heard: [Hello World: 4]