apps/ros-core/templates/statefulset-gcs.yaml

# Copyright 2021-present Open Networking Foundation
#
# SPDX-License-Identifier: Apache-2.0

{{ tuple "gcs" . | include "ros-core.service_account" }}
---
apiVersion: apps/v1
kind: StatefulSet
metadata:
  name: gcs
  labels:
{{ tuple "gcs" . | include "ros-core.metadata_labels" | indent 4 }}
spec:
  replicas: 1
  serviceName: gcs
  selector:
    matchLabels:
{{ tuple "gcs" . | include "ros-core.metadata_labels" | indent 6 }}
  template:
    metadata:
      labels:
{{ tuple "gcs" . | include "ros-core.metadata_labels" | indent 8 }}
    spec:
  {{- if .Values.nodeSelector.enabled }}
      nodeSelector:
        {{ .Values.nodeSelector.gcs.label }}: {{ .Values.nodeSelector.gcs.value }}
  {{- end }}
      serviceAccountName: gcs
  {{- if .Values.networks.hostNetwork }}
      hostNetwork: true
      dnsPolicy: None
      dnsConfig:
        nameservers:
          - {{ .Values.coredns.service.clusterIP }}
  {{- end }}
      initContainers:
      - name: gcs-dep-check
        image: {{ .Values.images.tags.depCheck }}
        imagePullPolicy: {{ .Values.images.pullPolicy }}
        securityContext:
          allowPrivilegeEscalation: false
          readOnlyRootFilesystem: false
          runAsUser: 0
        env:
          - name: POD_NAME
            valueFrom:
              fieldRef:
                apiVersion: v1
                fieldPath: metadata.name
          - name: NAMESPACE
            valueFrom:
              fieldRef:
                apiVersion: v1
                fieldPath: metadata.namespace
          - name: PATH
            value: /usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/
          - name: COMMAND
            value: "echo done"
          - name: DEPENDENCY_POD_JSON
            value: '[{"labels": {"app": "ros-core"}, "requireSameNode": false}]'
          # add dependency job for make_certs.sh
        command:
          - kubernetes-entrypoint
        volumeMounts:
          []
      containers:
      - name: gcs
        image: {{ .Values.images.tags.rosCore }}
        imagePullPolicy: {{ .Values.images.pullPolicy }}
        securityContext:
          privileged: true
        stdin: true
        tty: true
        command:
        - /root/run_gcs.sh
        volumeMounts:
        - name: gcs
          mountPath: /root/run_gcs.sh
          subPath: run_gcs.sh
        - name: gcs-launch
          mountPath: /root/TrajBridge-PX4/src/bridge_px4/launch
        - name: gcs-trajectory
          mountPath: /root/TrajBridge-PX4/src/bridge_px4/trajectories
      volumes:
        - name: gcs
          configMap:
            name: gcs
            defaultMode: 493
        - name: gcs-launch
          configMap:
            name: gcs-launch
            defaultMode: 420
        - name: gcs-trajectory
          configMap:
            name: gcs-trajectory
            defaultMode: 420