ros2_on_k3s

yolov5_ros2 package is based on yolov5_ros2

config stores the yolov5 model and camera info. After building yolov5_ros2, copy config to install/yolov5_ros2/share/yolov5_ros2/config

docker build -f ros2_yolov5.dockerfile -t yolov5_ros2:galactic-k3s .

K3s config private registry

Add mirrors to /etc/rancher/k3s/registries.yaml (If not exist then create the file)

mirrors:
  192.168.193.113:5000:
    endpoint:
      - "http://192.168.193.113:5000"

Restart

sudo systemctl restart k3s #master
sudo systemctl restart k3s-agent #agent

Use a docker registry

• modify /etc/docker/daemon.json Add following content to daemon.json

{
    "insecure-registries": ["ip_address:5000"]
}

• restart docker

systemctl daemon-reload && systemctl restart docker

May need to add registry-mirrors to daemon.json as well

{
    "registry-mirrors": [
        "https://hub-mirror.c.163.com",
        "https://mirror.baidubce.com"
    ],
    "insecure-registries": ["ip_address:5000"]
}

Build a docker registry with ui

Build registry

• pull and run registry on the server

docker pull registry:latest
docker run -d -p 5000:5000 --restart=always --name registry registry

• modify /etc/docker/daemon.json Add following content to daemon.json

{
    "insecure-registries": ["ip_address:5000"]
}

• restart docker

systemctl daemon-reload && systemctl restart docker

Docker registry UI

• pull the image of docker-registry-ui

docker pull joxit/docker-registry-ui:1.5-static

• deploy UI

docker run -p 8280:80 --name registry-ui \
-e REGISTRY_URL="http://ip_address:5000" \
-e DELETE_IMAGES="true" \
-e REGISTRY_TITLE="TIERS registry" \
-d joxit/docker-registry-ui:1.5-static

# docker run -p 8280:80 --name registry-ui -e REGISTRY_URL="http://ip_address:5000" -e DELETE_IMAGES="true" -e REGISTRY_TITLE="TIERS registry"

Manage docker image

• pull image or build image with dockerfile
• tag the image to registry

# docker tag IMAGE:TAG REGISTRY_HOST:REGISTRY_PORT/REPOSITORY:TAG
docker tag hello-world:latest ip_address:5000/hello-world:latest

• push the image to registry

docker push ip_address:5000/hello-world:latest

• check images

curl ip_address:5000/v2/_catalog
# {"repositories":["hello-world"]}

• pull images from registry

docker pull ip_address:5000/hello-world:latest