apiVersion: apps/v1
kind: Deployment
metadata:
  name: dep-orbslam-edge
spec:
  selector:
    matchLabels:
      app: dep-orbslam-edge
  template:
    metadata:
      labels:
        app: dep-orbslam-edge
    spec:
      nodeName: edge01
      containers:
      - name: con-orbslam-edge
        image: jike5/edgeslam-run:latest
        imagePullPolicy: IfNotPresent
        ports:
        - containerPort: 9002
        - containerPort: 9003
        - containerPort: 9004
        command: ["/bin/bash"]
        args: ["-i", "/workspace/Edgeslam/Examples/edge_run.sh"]
        env:
        - name: PATH_TO_SEQUENCE_FOLDER
          value: /workspace/data/YOUR_DATA_FOLDER
        - name: ASSOCIATIONS_FILE
          value: /workspace/Edgeslam/Examples/RGB-D/YOUR_CONFIG.yaml
        - name: ROS_MASTER_URI
          value: http://localhost:11311
        - name: ROS_IP
          value: 127.0.0.1
        - name: DISPLAY
          value: :1
        - name: QT_X11_NO_MITSHM
          value: "1"
        - name: XAUTHORITY
          value: /tmp/.docker.xauth
        volumeMounts:
        - name: xhost-mount
          mountPath: /tmp/.X11-unix
        - name: data-mount
          mountPath: /workspace/data
      hostNetwork: false
      volumes:
      - name: xhost-mount
        hostPath: 
          path: /tmp/.X11-unix
      - name: data-mount
        hostPath: 
          path: [your_absolute_path]/workspace/data
---
apiVersion: v1
kind: Service
metadata:
  name: orbslam-edge
spec:
  selector:
    app: dep-orbslam-edge
  ports:
    - name: http-0
      port: 9002
      protocol: TCP
      targetPort: 9002
    - name: http-1
      port: 9003
      protocol: TCP
      targetPort: 9003
    - name: http-2
      port: 9004
      protocol: TCP
      targetPort: 9004