dhananjay sathe, lead rapyuta - schd.ws€¦ · docker registry api pods allow coupling related...
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Building a Cloud Platform for RobotsDhananjay Sathe, Lead rapyuta.io
Task Offloading
The Genesis
It worked!
Collaborative 3D Mapping Dynamic Mobile Manipulation
"containerTag" : "roombaClone"
RoboEarth Compute Environment
"addNodes" : [{ "containerTag" : "roombaClone", "nodeTag" : "positionRecorder", "pkg" : "testPkg", "exe" : "posRecorder.py" }],
RoboEarth Compute Environment
"addInterfaces" : [{ "endpointTag" : "roombaClone", "interfaceTag" : "pos", "interfaceType" : "PublisherInterface", "className" : "geometry_msgs/Pose2D", "addr" : "/posPub"}]
RoboEarth Compute Environment
* NAT + proprietary protocol or raw sockets over GRE-tunnels and Openvswitch* Websockets* Proprietary RCE Protocol
Networking in RoboEarth
Re-imagining the Platform
LXC - Container
Master Process(built-in scheduling)
Container ProcessContainer Process Robot Endpoint
Robot Endpoint
Env EP
JSON Protocol Websocket / CLIIaaS Hooks
User Workload Nodes
RoboEarth Architecture Overview
Master Process(built-in scheduling)
Robot EndpointRobot Endpoint
JSON Protocol Websocket / CLI
IaaS Hooks
Containerization
LXC - Container
Container ProcessContainer Process
Env EP
User Workload Nodes
● No standard for describing a container
● Distribution of tarballs
● Changing dependency trees
● Exposing the right interfaces
Master Process(built-in scheduling)
Robot EndpointRobot Endpoint
JSON Protocol Websocket / CLI
IaaS Hooks
Containerization
LXC - Container
Container ProcessContainer Process
Env EP
User Workload Nodes
● Dockerfile format
● Docker registry API
● Pods allow coupling related software at runtime
● Host isolation
● Pluggable runtime
User Workload Nodes
kubelet
kubelet
LXC - Container
Container ProcessContainer Process Robot Endpoint
Robot Endpoint
Env EP
User Workload Nodes
Control PlaneMaster Process
(built-in scheduling)JSON Protocol
Websocket / CLIIaaS Hooks
● Scalability
● Day-2 operations nightmare
● Code modularity and maintainability
● Vendor support
LXC - Container
Container ProcessContainer Process Robot Endpoint
Robot Endpoint
Env EP
User Workload Nodes
Control PlaneMaster Process
(built-in scheduling)JSON Protocol
Websocket / CLIIaaS Hooks
● Battle tested at sufficient scale
● Rich ecosystem and tooling
● Modular extendable codebase
● cloud-controller-manager
API Server
Kube API
cloud-controller-manager
Scheduler
rapyutaAPI
LXC - Container
Master Process(built-in scheduling)
Container ProcessContainer Process
Env EP
JSON Protocol Websocket / CLI
IaaS Hooks
User Workload Nodes
Networking
Robot EndpointRobot Endpoint
● Complex multi-host port mapping
● Flakey SDN implementation
● Reconfiguration on node failure
● Limited protocol extensibility
● Centralized Robot endpoint messaging
LXC - Container
Master Process(built-in scheduling)
Container ProcessContainer Process
Env EP
JSON Protocol Websocket / CLI
IaaS Hooks
User Workload Nodes
ROS Routing MeshRobot Protocol Routing Layer
Ingress / LoadBalancers
Multi Protocol DataChannel
● CNI - high performance L3 networking
● Full support for a variety of L4-L7 protocols
● Ingress + load-balancer for edge routing
● DNS based service discovery
● NetworkPolicy per robot bulkheading and
isolation
Networking
LXC - Container
Master Process(built-in scheduling)
Container ProcessContainer Process Robot Endpoint
Robot Endpoint
Env EP
JSON Protocol Websocket / CLI
IaaS Hooks
User Workload Nodes
The Onset
API Server
Kube API
Cloud Controller Manager
Scheduler
platformAPI
ROS Routing MeshRobot Protocol Routing Layer
User Workload Nodes
kubelet
kubelet Ingress / LoadBalancers
Env EPEnv EP
Multi Protocol DataChannel
KubeAPI
The Culmination
Breaking out of the Datacenter
The Anatomy of a Robotics Application
Heterogeneous Infrastructure
● Multiple architectures
● Weak network links
● Spatial and temporal variations
● Reproducibility and configuration
Binary Artifacts
rapyuta.ioPackage
Strategies + Architecture
Registry
Build Configs
Parse
Workflow CRD
MultiArch-Build Engine
● Unified declarative application description
● Uniform lifecycle management across the datacenter and devices
● Permit coupling of components and inter-dependencies
● Allow cross pollination of ideas, services and code
Unified Application Description and Runtime
ServiceClass Composition
ServiceClass Composition
The Platform Broker
Service Catalog
Platform Broker
Device Broker
Cloud Broker
IaaS Broker
Service Catalog
Cloud Controller
Render to Cluster (eg. Helm/Templates)
Service Catalog
Platform Broker
Device Broker
Cloud Broker
IaaS Broker
Service Catalog
The Platform Broker
Service Catalog
Platform Broker
Device Broker
Cloud Broker
IaaS Broker
Service Catalog
Control Channel
Device Controller
The Platform Broker
Training the Broker{ "apiVersion":"v1.0.0", "name":"cloud_pub_sub", "plans":[ { "name":"default", "components":[ { "name":"listener", "cloudInfra":{ "replicas":1}, "requiredRuntime":"cloud", "executables":[ { "docker":"rapyutians/listener “, cmd":["roslaunch listener listener.launch"]}], }, { "name":"talker", "ros":{ "topics":[ { "name":"/telemetry"}], "isROS":true }, "requiredRuntime":"device", "executables":[ { "git":"https://github.com/rapyuta/talker", " cmd":["roslaunch talker talker.launch"]}], }] } ]}
ManifestPlatform BrokerAdd Service Class
DataStore
Persist Service Class Objects
Training the Broker
Unlocking rapyuta.io Platform value
Dynamic multi-robot orchestration
● Federation
● Custom Resource Definitions
● KubeProxy
● VirtualKube
● TUF Conformance
● Opentracing Extended
Foreglimpse
Acknowledgements
Questions?