Open-RMF Deployment Template

This repo provides a sample template to build, deploy and manage an Open-RMF installation (i.e. GitOps for RMF)

The Kubernetes way for cloud deployment

This repo is structured as -

• main - Contains Dockerfiles and CI pipeline to build images for this example deployment
• build/rmf-site - Contains example rmf-site related resources, dockerfiles and CI process
• cloud_infra - Cloud cluster bringup scripts, resources and runtime configs

(These branches may be setup as independant repos for a production environment, the intent in having them as branches here is to provide a concise one-stop location for easy reference.)

We will use the following tools for this example -

• CI : Github actions
• Container registry: Github packages
• VM hosting: AWS EC2
• DNS: AWS Route 53
• Kubernetes distribution: k3s
• CD: ArgoCD

Run thru the setups in cloud_infra branch to deploy these images to a cloud instance and access Open-RMF web dashbaord over a public URL

Alternate method for quick local deployment

If you are planning to run a small local deployment and do not want to setup up a kubernetes cluster for it OR run rmf_demos with simulation on your local machine.

docker run --network=host \
-it ghcr.io/open-rmf/rmf_deployment_template/rmf-simulation:latest \
bash -c "ros2 launch rmf_demos_gz office.launch.xml \
headless:=1 \
server_uri:=ws://localhost:8000/_internal"

Run rmf-api-server

docker run --network=host \
-it ghcr.io/open-rmf/rmf_deployment_template/rmf-web-rmf-server:latest

Run rmf-web-dashboard

docker run -p 3000:80 \
-it ghcr.io/open-rmf/rmf_deployment_template/rmf-web-dashboard-local:latest

Now access the dashboard with: http://localhost:3000/dashboard and try dispatch a task.

Docker images structure

flowchart LR
    subgraph Legend
      direction LR
      start1[ ] -..->|copy| stop1[ ]
      start2[ ] --->|base| stop2[ ]
      style start1 height:0px;
      style stop1 height:0px;
      style start2 height:0px;
      style stop2 height:0px;
    end
    ros:$ROS_DISTRO --> builder-rosdep --> rmf
    rmf --> builder-rmf-web
    rmf --> rmf-simulation
    builder-rmf-web --> rmf-web-dashboard
    builder-rmf-web --> rmf-web-dashboard-local
    builder-rmf-web --> rmf-web-rmf-server

Building images

You can look into the github workflow to get an idea of how to build images: Github Workflow.

From the root directory of this repo, you can run the following commands to build the images:

# Install and run vcs import rmf
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt install python3-vcstool -y
mkdir rmf-src
vcs import rmf-src < rmf/rmf.repos

ROS_DISTRO="${ROS_DISTRO:-humble}"
docker build -f rmf/builder-rosdep.Dockerfile -t open-rmf/rmf_deployment_template/builder-rosdep .
docker build -f rmf/rmf.Dockerfile -t open-rmf/rmf_deployment_template/rmf .