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. It includes DDS Router, which is currently only available in the Vulcanexus Jazzy distribution.

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. 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

Within the sourced environment, DDS Router is run with the ddsrouter command (see User Interface). For more information about using DDS Router from Vulcanexus installation, please refer to the Vulcanexus Cloud Tutorials.