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