4. Vulcanexus Cloud

Vulcanexus CLOUD scales and integrates ROS 2 networks located in geographically spaced environments, and enables the deployment of ROS 2 entities in the cloud/edge.

Vulcanexus offers the possibility of running from a containerized environment by providing a Docker image which contains Vulcanexus’s Desktop installation. This Docker image can be found in Vulcanexus’s Downloads. To run it, first install Docker:

sudo apt install docker.io

And then load the image with:

docker load -i ubuntu-vulcanexus-jazzy-desktop.tar

Vulcanexus Docker image can be run with:

xhost local:root
docker run \
    -it \
    --privileged \
    --net host \
    --ipc host \
    -e DISPLAY=$DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    ubuntu-vulcanexus:jazzy-desktop

To run more than one session within the same container, Vulcanexus installation must be sourced. Given a running container, you can open another session by:

docker exec -it <running-container-id> bash

Then, within the container, source the Vulcanexus installation with:

source /opt/vulcanexus/jazzy/setup.bash

To verify that the sourcing was correct, run:

echo $VULCANEXUS_HOME

The output should be:

/opt/vulcanexus/jazzy

For more information about using DDS Router from Vulcanexus installation, please refer to the Vulcanexus Cloud Tutorials.