Repo for using k3s with ROS2

1. Build the workspace:

colcon build --symlink-install

2. Source the ROS2 workspace:

source install/setup.bash

3. Run the CLI tool:

ros2 run ros2_k3s_cli cli --help

Interactively create a robot pod YAML config:

ros2 run ros2_k3s_cli cli create-config --output robot_pod_generated.yaml

You will be prompted for name, image, command, namespace, and can select deployment (edge/local) using arrow keys.

• Initialize cluster as server:

  ros2 run ros2_k3s_cli cli init --server

• Initialize cluster as agent:

  ros2 run ros2_k3s_cli cli init --agent --token <your-token> --url <server-url>

• Interactive mode - Browse namespaces, pods, and view logs:

  ros2 run ros2_k3s_cli cli get

  This will:

  1. Show all namespaces and let you select one using arrow keys
  2. Display all pods in the selected namespace in a table format
  3. Let you select a pod using arrow keys
  4. Show the logs from the selected pod (last 5 seconds)

• Get all namespaces:

  ros2 run ros2_k3s_cli cli get namespace

• Get pods in a specific namespace:

  ros2 run ros2_k3s_cli cli get pod -n <namespace>

• Validate cluster config:

  ros2 run ros2_k3s_cli cli validate --config cluster.yaml

• Apply (deploy) application:

  ros2 run ros2_k3s_cli cli deploy --config src/ros2-k3s/examples/ros2_sub.yaml

Replace <your-token>, <namespace>, cluster.yaml and the config path with your actual values and configuration files.

A modern NiceGUI-based dashboard is now available for cluster monitoring:

• Cluster Overview: View namespaces, nodes, and cluster status in a modern UI
• Node Status: See real-time node health (Ready/NotReady/Unknown)
• Namespace Browsing: Click namespaces to view running pods
• Pod Details: See pod status, container readiness, creation time, and assigned node
• Resource Monitoring: View live CPU and RAM usage for ready pods; refresh metrics on demand
• Accurate Pod Health: Pods are only considered healthy if all containers are ready
• Visual Feedback: Color-coded status, warnings for non-ready pods, and error handling

To run the dashboard:

ros2 run ros2_k3s_web web_app