RoboticsAsCode
Robotics as Code (RaC) is using source code to manage and deploy code and configurations to robots.
These are the ideals of RaC:
- ROS nodes should be placed in Docker containers.
- Docker containers should be managed by Ansible preferably as Roles.
- Ansible configures settings such as networking
Links
Examples of RaC implementations
Docker ROS Repos
https://github.com/frankjoshua/docker-ros-master
https://github.com/frankjoshua/docker-ros-bridge-suite- https://github.com/frankjoshua/docker-ros-turtlesim
https://github.com/frankjoshua/docker-ros-desktop
https://github.com/frankjoshua/docker-ros-jupyter- https://github.com/frankjoshua/docker-ros-tfwebrepublisher
- https://github.com/frankjoshua/docker-ros-movebase
- https://github.com/frankjoshua/docker-ros-realsense
https://github.com/frankjoshua/docker-ros-jviz
https://github.com/frankjoshua/docker-ros-webviz
https://github.com/frankjoshua/docker-ros-m1m1 (x86 only)
Ansible Role Repos
https://github.com/frankjoshua/ansible-role-ros-master- https://github.com/frankjoshua/ansible-role-ros-adafruitmotorhat
- https://github.com/frankjoshua/ansible-role-ros-velocity-muxer
- https://github.com/frankjoshua/ansible-role-ros-bridge-suite
- https://github.com/frankjoshua/ansible-role-ros-slamtec-m1m1
Raspberry Pi Repos
Docker ans ROS articles
Notes
Example of a catkin workspace in docker
https://github.com/frankjoshua/docker-ros-bridge-suite
Demo of ROS in Jupyter Notebook
https://github.com/frankjoshua/demo-ros-cmdvel-jupyter
Example:
Add roles to requirements.yml
- src: https://github.com/frankjoshua/ansible-role-ros-master.git
- src: https://github.com/frankjoshua/ansible-role-ros-adafruitmotorhat.git
Install with ansible galaxy
ansible-galaxy install -r ./ansible/requirements.yml
Then you can use as normal ansible roles
roles:
- role: ansible-role-ros-master
- role: ansible-role-ros-adafruitmotorhat
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