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Add OpenKruise tutorial with CloneSet and Advanced DaemonSet in-place update. - #78
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fujitatomoya wants to merge 1 commit into
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fujitatomoya wants to merge 1 commit into
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… update. Introduce OpenKruise advanced workloads for ROS 2 deployment on the edge: in-place update keeps the pod name, IP address, sandbox and volumes and only restarts the changed container, partition based canary rollout, and Advanced DaemonSet rollout by node selector to update the specific robots first. - docs/ROS2_Deployment_OpenKruise.md: motivation, Helm install (v1.9.2), CloneSet in-place update with partition, Advanced DaemonSet node selector rollout, other useful CRDs, uninstall - yaml/ros2-kruise-cloneset.yaml, yaml/ros2-kruise-daemonset.yaml - README links Verified on kind v0.33.0 (Kubernetes v1.37.0) with Cilium 1.20.2 and OpenKruise v1.9.2, image update from tomoyafujita/ros:jazzy to tomoyafujita/ros:rolling. Closes #66 Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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Closes #66
Adds
docs/ROS2_Deployment_OpenKruise.mdthat walks through the OpenKruise features that are useful for ROS 2 / robot fleets on the edge, with two manifests and README links.Deployment/DaemonSetrecreate the pod on update (new name / IP, DDS re-discovery,emptyDirsuch as/dev/shmlost, image pull on the edge network). In-place update restarts only the changed container in the same pod.yaml/ros2-kruise-cloneset.yaml):InPlaceIfPossible,partitioncanary (2 of 3 pods stay on the old revision), then full rollout. The doc shows the pod names / IPs unchanged,RESTARTS1, kubelet eventContainer ros2-talker definition changed, will be restartedand theapps.kruise.io/inplace-update-stateannotation.yaml/ros2-kruise-daemonset.yaml):rollingUpdateType: InPlaceIfPossiblewith nodeselector(ros2-rollout=canary) to roll out to the labeled node (robot) first, then remove the selector for the whole fleet.kruise-daemonon KubeEdge edge nodes needs MetaServer (not covered).kubectl patch --type mergewith acontainerslist replaces the whole list and dropscommand/args/imagePullPolicy, which turns the change into a pod recreation with the image default command (andimagePullPolicy: Always). The doc uses JSON patch (--type json) on the image field only.Verification
kind v0.33.0 (Kubernetes v1.37.0) + Cilium 1.20.2,
helm install kruise openkruise/kruise --version 1.9.2, imagestomoyafujita/ros:jazzy->tomoyafujita/ros:rolling(both built locally and loaded withkind load docker-image). All outputs in the doc are copied from the run.helm uninstall kruiseand the sample resources were cleaned up afterwards.codespell --config codespell.cfgpasses.🤖 Generated with Claude Code