fix example deployment

example-deployment/README.md

@@ -36,7 +36,7 @@ others:
 For this example we will be using [rmf_demos](https://github.com/open-rmf/rmf_demos) as a local "deployment" of RMF, check that you have a working installation with
 
 ```bash
-ros2 launch rmf_demos_gz office.launch.xml
+RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 launch rmf_demos_gz office.launch.xml
 ```
 
 ## kubernetes
@@ -276,9 +276,10 @@ The jobs we will run in this example can be found at `k8s/example-full/cronjobs.
 ## Test the deployment
 
 If not done so already, launch the office demo
+NOTE: Due to DDS challenging behavior with minikube over NAT, we will use `rmw_fastrtps_cpp` to bypass NAT traversal using sharede memory transport.
 
 ```bash
-ros2 launch rmf_demos_gz office.launch.xml headless:=true
+RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 launch rmf_demos_gz office.launch.xml headless:=1 use_sim_time:=false server_uri:=ws://example.com:8001
 ```
 
 Go to https://example.com/dashboard, if everything works, you should see a log in screen, use user=example, password=example.
@@ -292,7 +293,7 @@ It can be very useful to automate everything mentioned above and instantly deplo
 Before you run the script, first you have to obtain the source. Refer to the above instructions if you don't know how to do it. You should have a git repo for rmf-web and a colcon workspace for rmf, then just run
 
 ```bash
-./deploy.sh --rmf-ws <path-to-rmf-ws> --rmf-web-ws <path-to-rmf-web-ws>
+./deploy.sh <path-to-rmf-ws> <path-to-rmf-web-ws>
 ```
 
 Note: If you followed the above instructions to obtain the source, your rmf workspace will be in `ws/rmf`, and your rmf-web workspace will be in `ws/rmf-web`. So you will run it with `./deploy.sh --rmf-ws ws/rmf --rmf-web-ws ws/rmf`.
@@ -399,7 +400,11 @@ If you can connect to rmf, there is a chance that there is some discovery issues
 
 ## Some containers crashes at first startup
 
-Some deployments like the rmf-server may crash on the first startup, this is often due to the database not being ready yet. This is normal and kubernetes will automatically restart the container.
+Some deployments like the rmf-server may crash on the first startup, this is often due to the database not being ready yet. This is normal and kubernetes will automatically restart the container. Alternatively, you can forcefully terminate the rmf-server to force a restart:
+```
+kubectl get pods 
+kubectl delete pods [rmf-server-xxxx]
+```
 
 One solution is to add an init container to probe for the readiness of the database, but this comes at a small cost which is not normally expected to happen in an actual deployment. It is also not fail proof as there is no guarantee that
 

example-deployment/build-builder.sh

@@ -13,7 +13,6 @@ cd $root_dir
 mkdir -p build/builder/
 
 cd $1
-cp lerna.json "$root_dir/build/builder/"
 find . -name node_modules -prune -o -name build -prune -o \
   \(\
     -name 'package*.json' -o \

example-deployment/deploy.sh

@@ -71,7 +71,7 @@ echo '🗒 setting up apps and users'
 try() {
   "$@" || (sleep 1 && "$@") || (sleep 5 && "$@")
 }
-try node keycloak-tools/bootstrap-keycloak.js
+try node keycloak-tools/bootstrap-keycloak.js || true  # persistent keycloak database might fail this script if it has already been run before
 try node keycloak-tools/get-cert.js > k8s/example-full/keycloak/keycloak.pem
 openssl x509 -in k8s/example-full/keycloak/keycloak.pem -pubkey -noout -out k8s/example-full/keycloak/jwt-pub-key.pub
 echo '✅ successfully setup keycloak'

example-deployment/docker/dashboard.Dockerfile

@@ -2,8 +2,6 @@ ARG BUILDER_TAG
 FROM rmf-web/builder:$BUILDER_TAG
 
 COPY . /root/rmf-web
-RUN cd /root/rmf-web && \
-  lerna run prepare --include-dependencies --scope=rmf-dashboard
 
 ARG PUBLIC_URL
 ARG REACT_APP_TRAJECTORY_SERVER

example-deployment/docker/reporting-server.Dockerfile

@@ -3,7 +3,6 @@ FROM rmf-web/builder:$BUILDER_TAG
 
 COPY . /root/rmf-web
 RUN cd /root/rmf-web && \
-  lerna run prepare --include-dependencies --scope=reporting-server && \
   cd packages/reporting-server && \
   npm run prepack
 

example-deployment/docker/reporting.Dockerfile

@@ -2,8 +2,6 @@ ARG BUILDER_TAG
 FROM rmf-web/builder:$BUILDER_TAG
 
 COPY . /root/rmf-web
-RUN cd /root/rmf-web && \
-  lerna run prepare --include-dependencies --scope=reporting
 
 ARG PUBLIC_URL
 ARG REACT_APP_REPORTING_SERVER
@@ -31,10 +29,6 @@ RUN echo -e 'server {\n\
     index index.html index.htm;\n\
     try_files $uri /reporting/index.html;\n\
   }\n\
-\n\
-  location /reporting/static/ {\n\
-    expires 30d;\n\
-  }\n\
 \n\
   error_page 500 502 503 504 /50x.html;\n\
   location = /50x.html {\n\

example-deployment/docker/rmf-server.Dockerfile

@@ -1,6 +1,6 @@
 FROM rmf-web/rmf-server:build as stage0
 
-FROM ros:foxy-ros-base-focal
+FROM ros:galactic
 
 SHELL ["bash", "-c"]
 
@@ -15,7 +15,8 @@ COPY rmf/rmf_internal_msgs/rmf_traffic_msgs /root/rmf_ws/src/rmf_traffic_msgs
 COPY rmf/rmf_internal_msgs/rmf_workcell_msgs /root/rmf_ws/src/rmf_workcell_msgs
 COPY rmf/rmf_building_map_msgs /root/rmf_ws/src/rmf_building_map_msgs
 
-RUN . /opt/ros/foxy/setup.bash && cd /root/rmf_ws && \
+RUN apt update && apt install -y ros-galactic-rmw-fastrtps-cpp
+RUN . /opt/ros/galactic/setup.bash && cd /root/rmf_ws && \
   colcon build --merge-install --install-base /opt/rmf --cmake-args -DCMAKE_BUILD_TYPE=Release && \
   rm -rf /root/rmf_ws
 
@@ -27,6 +28,6 @@ RUN cd /root/rmf-server && \
 
 RUN echo -e '#!/bin/bash\n\
   . /opt/rmf/setup.bash\n\
-  exec rmf_api_server "$@"\n\
+  rmf_api_server "$@"\n\
   ' > /docker-entry-point.sh && chmod +x /docker-entry-point.sh
 ENTRYPOINT ["/docker-entry-point.sh"]

example-deployment/docker/rmf-server.build.Dockerfile

@@ -3,6 +3,5 @@ FROM rmf-web/builder:$BUILDER_TAG
 
 COPY . /root/rmf-web
 RUN cd /root/rmf-web && \
-  lerna run prepare --include-dependencies --scope=api-server && \
   cd packages/api-server && \
   npm run prepack

example-deployment/k8s/base/rmf-server/rmf-server.yaml

@@ -80,6 +80,23 @@ spec:
   ports:
     - protocol: TCP
       port: 8000
+
+---
+apiVersion: v1
+kind: Service
+metadata:
+  name: rmf-server-ws
+  labels:
+    app: rmf-server-ws
+    tier: app
+spec:
+  selector:
+    app: rmf-server
+    tier: app
+  ports:
+    - protocol: TCP
+      port: 8001
+
 ---
 apiVersion: apps/v1
 kind: Deployment
@@ -107,6 +124,8 @@ spec:
           env:
             - name: RMF_API_SERVER_CONFIG
               value: /rmf-server-config/rmf_server_config.py
+            - name: RMW_IMPLEMENTATION
+              value: rmw_fastrtps_cpp
           volumeMounts:
             - mountPath: /rmf-server-config
               name: rmf-server-config

example-deployment/k8s/example-full/rmf_server_config.py

@@ -4,7 +4,7 @@
 
 config = deepcopy(default_config)
 config["host"] = "0.0.0.0"
-config["port"] = 8000
+config["base_port"] = 8000
 config["db_url"] = "postgres://rmf-server:rmf-server@rmf-server-db/rmf-server"
 config["public_url"] = "https://example.com/rmf/api/v1"
 config["log_level"] = "INFO"

example-deployment/kustomize-env.sh

@@ -1,4 +1,9 @@
 #!/bin/bash
 set -e
 
+kubectl() {
+  .bin/minikube kubectl -- "$@"
+}
+export -f kubectl
+
 kubectl kustomize "$1" | envsubst