draft distributed system #62
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Pull request overview
This PR introduces the scaffolding for a distributed kart system that splits the ROS 2 stack between a Jetson (sensors/perception) and a Rubik (metrics + master API). It adds dedicated launch files per device, opens ROS discovery beyond localhost, and exposes new HTTP endpoints on the master API to remotely update/restart the Jetson over SSH.
Changes:
- New
bringup_jetson.launch.py,bringup_rubik.launch.py, andbringup_all.launch.pyplus aTARGET_DEVICE-awarestart.bash. - New
MasterNode.restart_jetson()/update_jetson()that shell out tosshand corresponding/jetson/restartand/jetson/updateFlask endpoints. - Networking/config updates:
ROS_LOCALHOST_ONLY=0in compose/devcontainer,openssh-clientadded to the Docker image, and newjetson_ip/jetson_usernameparams insystem.yaml.
Reviewed changes
Copilot reviewed 9 out of 11 changed files in this pull request and generated 12 comments.
Show a summary per file
| File | Description |
|---|---|
| src/autonomous_kart/autonomous_kart/params/system.yaml | Adds jetson_ip and jetson_username params used for SSH targeting. |
| src/autonomous_kart/autonomous_kart/nodes/master/master_node.py | Adds restart_jetson / update_jetson shelling out via ssh -t. |
| src/autonomous_kart/autonomous_kart/nodes/master/master_api.py | New unauthenticated POST endpoints /jetson/restart and /jetson/update. |
| src/autonomous_kart/autonomous_kart/launch/bringup_rubik.launch.py | New launch file: metrics + master_api on Rubik. |
| src/autonomous_kart/autonomous_kart/launch/bringup_jetson.launch.py | New launch file: sensor/perception/master nodes on Jetson. |
| src/autonomous_kart/autonomous_kart/launch/bringup_all.launch.py | Combined launch file; passes imu_yaml to master_api (likely copy/paste). |
| scripts/start.bash | Branches on TARGET_DEVICE; missing fi makes the script invalid. |
| docker/Dockerfile | Adds openssh-client for outbound SSH. |
| compose/docker-compose.yml | Sets ROS_LOCALHOST_ONLY=0, hardcodes TARGET_DEVICE=jetson. |
| .gitignore | Ignores logs/ and kart_logs/. |
| .devcontainer/devcontainer.json | Sets ROS_LOCALHOST_ONLY=0 for devcontainers. |
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| # pull latest code, rebuild container, and restart bringup on jetson | ||
| def restart_jetson(self): | ||
| with self._lock: | ||
| remote_command = ( | ||
| "bash ~/run_remote.sh --update" | ||
| ) | ||
|
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| ssh_command = [ | ||
| "ssh", | ||
| "-t", | ||
| f"{self.jetson_user}@{self.jetson_ip}", | ||
| remote_command, | ||
| ] | ||
|
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| self.logger.info("Rebuilding Jetson container and pulling latest code...") | ||
|
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| subprocess.Popen(ssh_command) | ||
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| # only pull latest code, dont rebuild container | ||
| def update_jetson(self): | ||
| with self._lock: | ||
| remote_command = ( | ||
| "cd ~/AutonomousKart && " | ||
| "git pull && " | ||
| "docker exec ros2-dev bash -lc '" | ||
| "source /opt/ros/humble/setup.bash && " | ||
| "cd /ws && " | ||
| "colcon build && " | ||
| "source install/setup.bash && " | ||
| "ros2 launch autonomous_kart bringup_jetson.launch.py" | ||
| "'" | ||
| ) | ||
|
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| ssh_command = [ | ||
| "ssh", | ||
| "-t", | ||
| f"{self.jetson_user}@{self.jetson_ip}", | ||
| remote_command, | ||
| ] | ||
|
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| self.logger.info("Starting Jetson and pulling latest code...") | ||
|
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| subprocess.Popen(ssh_command) |
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| ssh_command = [ | ||
| "ssh", | ||
| "-t", | ||
| f"{self.jetson_user}@{self.jetson_ip}", | ||
| remote_command, | ||
| ] | ||
|
|
||
| self.logger.info("Rebuilding Jetson container and pulling latest code...") | ||
|
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| subprocess.Popen(ssh_command) | ||
|
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| # only pull latest code, dont rebuild container | ||
| def update_jetson(self): | ||
| with self._lock: | ||
| remote_command = ( | ||
| "cd ~/AutonomousKart && " | ||
| "git pull && " | ||
| "docker exec ros2-dev bash -lc '" | ||
| "source /opt/ros/humble/setup.bash && " | ||
| "cd /ws && " | ||
| "colcon build && " | ||
| "source install/setup.bash && " | ||
| "ros2 launch autonomous_kart bringup_jetson.launch.py" | ||
| "'" | ||
| ) | ||
|
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| ssh_command = [ | ||
| "ssh", | ||
| "-t", | ||
| f"{self.jetson_user}@{self.jetson_ip}", | ||
| remote_command, | ||
| ] |
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| subprocess.Popen(ssh_command) | ||
|
|
||
| # only pull latest code, dont rebuild container | ||
| def update_jetson(self): | ||
| with self._lock: | ||
| remote_command = ( | ||
| "cd ~/AutonomousKart && " | ||
| "git pull && " | ||
| "docker exec ros2-dev bash -lc '" | ||
| "source /opt/ros/humble/setup.bash && " | ||
| "cd /ws && " | ||
| "colcon build && " | ||
| "source install/setup.bash && " | ||
| "ros2 launch autonomous_kart bringup_jetson.launch.py" | ||
| "'" | ||
| ) | ||
|
|
||
| ssh_command = [ | ||
| "ssh", | ||
| "-t", | ||
| f"{self.jetson_user}@{self.jetson_ip}", | ||
| remote_command, | ||
| ] | ||
|
|
||
| self.logger.info("Starting Jetson and pulling latest code...") | ||
|
|
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| subprocess.Popen(ssh_command) |
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| with self._lock: | ||
| remote_command = ( | ||
| "bash ~/run_remote.sh --update" | ||
| ) | ||
|
|
||
| ssh_command = [ | ||
| "ssh", | ||
| "-t", | ||
| f"{self.jetson_user}@{self.jetson_ip}", | ||
| remote_command, | ||
| ] | ||
|
|
||
| self.logger.info("Rebuilding Jetson container and pulling latest code...") | ||
|
|
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| subprocess.Popen(ssh_command) | ||
|
|
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| # only pull latest code, dont rebuild container | ||
| def update_jetson(self): | ||
| with self._lock: | ||
| remote_command = ( | ||
| "cd ~/AutonomousKart && " | ||
| "git pull && " | ||
| "docker exec ros2-dev bash -lc '" | ||
| "source /opt/ros/humble/setup.bash && " | ||
| "cd /ws && " | ||
| "colcon build && " | ||
| "source install/setup.bash && " | ||
| "ros2 launch autonomous_kart bringup_jetson.launch.py" | ||
| "'" | ||
| ) | ||
|
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| ssh_command = [ | ||
| "ssh", | ||
| "-t", | ||
| f"{self.jetson_user}@{self.jetson_ip}", | ||
| remote_command, | ||
| ] | ||
|
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| self.logger.info("Starting Jetson and pulling latest code...") | ||
|
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| subprocess.Popen(ssh_command) |
| system_frequency: 60 # Speed of hot loop (Hertz) | ||
| line_path: "/ws/data/racing_line/line14.csv" | ||
| jetson_ip: "evc-jetson.tail73145c.ts.net" | ||
| jetson_username: "evc" No newline at end of file |
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| remote_command = ( | ||
| "bash ~/run_remote.sh --update" | ||
| ) |
| - ROS_DISTRO=humble | ||
| - ROS_DOMAIN_ID=42 | ||
| - ROS_LOCALHOST_ONLY=1 | ||
| - ROS_LOCALHOST_ONLY=0 |
| - ROS_DOMAIN_ID=42 | ||
| - ROS_LOCALHOST_ONLY=1 | ||
| - ROS_LOCALHOST_ONLY=0 | ||
| - TARGET_DEVICE=jetson # set target device for build (ex: jetson, rubik) |
|
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| subprocess.Popen(ssh_command) | ||
|
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| # only pull latest code, dont rebuild container |
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