ROS 2 + Dockerによるフォールトトレランス入門

ROS Japan UG #11 LT大会 https://rosjp.connpass.com/event/58755/ の発表資料です。Dockerのフォールトトレランス機能をROS 2に導入して実験しました。

Transcript

1. 304
   
   
   %PDLFSʹΑΔ
   ϑΥʔϧττϨϥϯε࣮ફ
   ۙ౻
   ๛
   
   IUUQSPTZPVUBMLKQ
   !ZPVUBML
   304
   +BQBO
   6(
   
   -5େձ
   ೖ໳
   
2. "CPVU
   .F
   304ઐ༻ϒϩά։ઃ͠·ͨ͠ʂ
   IUUQSPTZPVUBMLKQ
   
   ZVUBLBLPOEP!ZPVUBMLKQ
   ຊ໊
   ΞΧ΢ϯτ໊
   ࠃ੶
   ϗʔϜϖʔδΞυϨε
   ϝʔϧΞυϨε
   
3. ॕ304
   
   #FUB
   ϦϦʔε
   •  IUUQTHJUIVCDPNSPTSPTXJLJ#FUB0WFSWJFX
   •  IUUQSPTZPVUBMLKQQPTUSPTCFUB
   –  6CVOUV
   
   8JOEPXT
   
   NBD04
   4JFSSBͷެࣜαϙʔτ
   –  %%4
   4FDVSJUZͷαϙʔτʢTSPTʣ
   –  %FCJBOύοέʔδͷ੔උ
   –  ෳ਺3.8࣮૷ͷத͔Β࣮ߦ࣌ʹ೚ҙͷ3.8࣮૷Λબ୒Մೳ
   –  ίϚϯυϥΠϯΠϯλϑΣʔεSPTͷ௥Ճ
   –  ໊લۭؒͷαϙʔτ
   –  ϩΪϯάϚΫϩSDVUJMTͷ࣮૷
   
   
4. 304
   
   %PDLFSΠϝʔδ
   •  ίϯςφΠϝʔδͷμ΢ϯϩʔυ
   –  $ docker pull youtalk/ros2:beta2 –  IUUQTIVCEPDLFSDPNSZPVUBMLSPT
   •  ίϯςφͷىಈ
   –  $ docker run -it youtalk/ros2:beta2 •  ࢒೦ͳ͕Βɺެࣜ304
   
   %PDLFS͸ʢҰ࣌తʹʣɹɹɹ ͳ͘ͳΓ·ͨ͠
   –  
   EPDLFS
   QVMM
   PTSGSPTMBUFTU
   –  IUUQTHJUIVCDPNPTSGEPDLFS@JNBHFTQVMM
   
   
5. 304
   ͷಛ௃
     04ඇґଘ
     ࢈ۀքͰ޿͘࢖ΘΕ͍ͯΔϛυϧ΢ΣΞ%%4Λ࠾༻
     ঎༻ɾඇ঎༻ͷ഑৴ϓϩτίϧΛબ୒Մೳ
     6%1ͱ2P4ͷ૊Έ߹ΘͤʹΑΔϦΞϧλΠϜ௨৴࣮ݱ
     ௿ੑೳͳܭࢉػͰ΋ʢ෦෼తʹʣӡ༻Մೳ
     ηΩϡϦςΟػೳͷαϙʔτ
     ୯Ұো֐఺ʢ304
   .BTUFSʣ͕ͳ͍
   –  %PDLFSͱͷ૬ੑൈ܈ʂ
   
   
6. 304
   
   BT
   B
   .JDSPTFSWJDF
   •  304
   ͷϊʔυҰͭҰͭΛ%PDLFSίϯςφͰӡ༻
   –  1VCMJTIFS΋4VCTDSJCFS΋͢΂ͯίϯςφ࣮ߦ
   –  ϊʔυ
   
   
   .JDSPTFSWJDF
   
   •  %PDLFSͷΤίγεςϜΛ࠶ར༻
   –  SPTMBVODI୅ΘΓͷ%PDLFS
   $PNQPTF
   –  ϊʔυҟৗऴྃ࣌ʹࣗಈ࠶ىಈ
   –  %PDLFS
   4XBSNϞʔυͰ෼ࢄίϯϐϡʔςΟϯά
   
   
7. ίϯςφͷࣗಈ࠶ىಈ
   •  ίϯςφҟৗऴྃ࣌ʹࣗಈతʹ࠶ىಈ
   –  IUUQTEPDTEPDLFSDPNEPDLFSDMPVEBQQTBVUPSFTUBSU
   –  SFTUBSUΦϓγϣϯ
   •  OP
   
   ࠶ىಈ͠ͳ͍ʢσϑΥϧτʣ
   •  POGBJMVSF
   
   ऴྃεςʔλε͕Ҏ֎ͷ৔߹ʹ࠶ىಈ
   •  POGBJMVSF9
   
   ऴྃεςʔλε͕Ҏ֎ͷ৔߹ʹ9ճ࠶ىಈ
   •  BMXBZT
   
   ऴྃεςʔλε͕ԿͰ͋Ζ͏ͱ࠶ىಈ
   
   
8. ࣮ݧ
   •  1VCMJTIFS
   –  $ docker run -it --rm --net ros2 ɹɹɹɹɹ youtalk/ros2:beta2 /bin/bash -c ɹɹɹɹɹɹɹ 'ros2 run demo_nodes_cpp talker’
   •  4VCTDSJCFS
   –  $ docker run --restart=on-failure --net ros2 ɹɹ -v `pwd`/youtalk:/youtalk youtalk/ros2:beta2 ɹɹ /bin/bash -c ‘cd /youtalk; ɹɹɹɹɹɹɹɹɹɹɹɹ . install/local_setup.bash; ɹɹɹɹɹɹɹɹɹɹ ros2 run demo_nodes_cpp listener_failable’ 
   ࣮ݧͷ४උͱ݁Ռ
   ˠ
   IUUQSPTZPVUBMLKQQPTUGBVMUUPMFSBODF
   
9. %PDLFS
   4XBSNϞʔυ
   •  %PDLFS
   &OHJOFͷΫϥελ؅ཧ
   –  IUUQTEPDTEPDLFSDPNFOHJOFTXBSN
   –  ෳ਺؅ཧίϯςφͱෳ਺ϫʔΧίϯςφͰߏ੒
   
   ͪ͜Βͷ࿩͸
   ·͍ͨͣ͜Ͱ
   
10. 304
    
    5P
    #F
    $POUJOVFE
    
    304
    +BQBO
    6(
    
    -5େձ