ROS / ROS 2
withKubernetes and KubeEdge
Oct.19th.2023
ROSCon 2023 @ New Orleans, US

Copyright 2023 Sony Group Corporation

Agenda• Who are we?
• Background• Problems• Goals / Requirements• Kubernetes• KubeEdge• Sample Deployment• What’s missing? Next-gen proposal• Community

2|R&D Center U.S. Laboratory

Who are we?
• Tomoya Fujita (Presenter)••••

Software Engineer, Sony R&D US Laboratory
ROS TSC (Technical Steering Committee)
KubeEdge SIG Robotics Chair
fujitatomoya@github , tomoyafujita@linkedin• Co-Authors• Yin Ding (Engineering Manager, Google)
o KubeEdge TSC, Co-Founder of KubeEdge Projecto Leading the Kubernetes Hardening team

• Kevin Wang (Lead of Cloud Native Open Source Team, Huawei)o KubeEdge TSC, Co-Founder of KubeEdge Project
o CNCF Ambassador, TOC contributor• Fei Xu (Senior Engineer, Huawei)o KubeEdge TSC, Maintainer

3|R&D Center U.S. Laboratory

Background• Broad use cases.
• Distributed and Connected System.
• Collaborative and Orchestrated Application.
• Circulatory Functioning System and Development• Specific Hardware Acceleration.
• Security. (Device, Data, Network)4|

R&D Center U.S. Laboratory

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R&D Center U.S. Laboratory

What is the pain?
• Platform Dependencies.
• Proprietary hardware support.

• Application Modularity.
• System and Security Integration.
• Application Specific Network Bridge.
• Application Developer Friendly.
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R&D Center U.S. Laboratory

Goal / Requirements• Flexible Application Deployment.
• Zero Trust Security Support.
• Application Agnostic Network Configuration.
• Extend Device Capability.

• System Global Observability.
• Platform Agnostic Device Abstraction.

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R&D Center U.S. Laboratory

Kubernetes (Service Mesh)• Application Deployment and Orchestration.
• Device Capability and Label Control.
• Custom Resource Extension.
• Auto- Scaling and Healing.
• Roll Up/Down, Canary Test.
• Role Based Access Control.
• Device-Plugin / Container Device Interfaces.
• Container Network Interfaces.
• Traffic Management.
• Observability.
• Security Policy.

8|R&D Center U.S. Laboratory

KubeEdgeis built upon Kubernetes and provides core infrastructure support for networking,application deployment and metadata synchronization between cloud and edge.
• Cloud-Edge Coordination• Edge Computing• Edge Autonomy• Simplified Deployment• Kubernetes-native Support• Resource Efficient9|

R&D Center U.S. Laboratory

https://kubeedge.io/docs/

Sample Deployment
Theory is good, but please see how it works in the flesh!

ROS Kubernetes
Tutorials

Contribution(Issues/PRs) always welcome!
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R&D Center U.S. Laboratory

ROS Multi-Node Deployment

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R&D Center U.S. Laboratory

ROS 2 Localhost Only

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R&D Center U.S. Laboratory

ROS 2 Logical Partition / Multiple RMW Implementation

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R&D Center U.S. Laboratory

ROS 2 Deployment Intermediate

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R&D Center U.S. Laboratory

ROS 2 / Micro-ROS with KubeEdge (W.I.P)

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R&D Center U.S. Laboratory

Device-Abstraction (Device-Plugin, Container Device Interface)• Kubernetes Custom Resource Definition, that allows us to plugin vendor specifichardware and device to the containers.
• After advertising the custom resource to Kubernetes, Kubernetes controls thoseresources with workload based on application requirements.

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R&D Center U.S. Laboratory

Support SROS 2 security enclaves via ConfigMap

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R&D Center U.S. Laboratory

What’s missing? Proposals?
• Device Abstraction Enhancement• KEP-3162: Add Deallocate and PostStopContainer to Device Manager API• Add CDI devices to device plugin API resolved this issue.

• KubeEdge CNI support (e.g edgemesh, Cilium)• More Edge Optimization / Configurable Options for Resource Constrained Device Support• Cloud-Native Robotics Management Solution• `RoboDevOps` through Edge-Cloud Synergy• Cloud-Native Digital Twin for testing and data generation training• Robotics App Development Friendly• Cloud Robotics Custom Resource Definition and Operator Proposal• Edgemesh: adaptive cross-edge and edge-cloud data plane support• VSLAM algorithm with KubeEdge• Building a Robot-Oriented Intelligent Monitoring System
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R&D Center U.S. Laboratory

Community

Kubernetes
IoT Edge WG

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R&D Center U.S. Laboratory

KubeEdge
SIG Robotics

ROS Kubernetes
Tutorials

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