feat: detect objects

feat: replace rabbitmq with nats
new car config
2022-10-07 14:43:05 +02:00 · 2022-10-07 14:42:25 +02:00 · 2022-09-04 18:05:32 +02:00 · 2022-08-16 08:46:20 +02:00 · 2022-06-16 16:02:57 +02:00 · 2022-06-16 12:30:03 +02:00
13 changed files with 361 additions and 91 deletions
--- a/ansible/roles/microservices/files/robocar/car/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/car/configmap.yaml
@ -0,0 +1,20 @@
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-pca9685-pwm
+data:
+  ############################
+  # STEERING PWM - PCA9685   #
+  ############################
+  STEERING_PCA9685_LEFT_PWM: "995"
+  STEERING_PCA9685_RIGHT_PWM: "2017"
+  STEERING_PCA9685_CENTER_PWM: "1440"
+
+  ###########################
+  # THROTTLE PWM - PCA9685  #
+  ############################
+  THROTTLE_PCA9685_MIN_PWM: "994"
+  THROTTLE_PCA9685_MAX_PWM: "1975"
+  THROTTLE_PCA9685_ZERO_PWM: "1420"
+
--- a/ansible/roles/microservices/files/robocar/car/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/car/deployments.yaml
@ -107,6 +107,7 @@ spec:
          args:
            - "--image-width=$(CAMERA_WIDTH)"
            - "--image-height=$(CAMERA_HEIGHT)"
+            - "--objects-threshold=$(THRESHOLD_OBJECTS)"
          securityContext:
            runAsUser: 1234
            privileged: true
@ -116,8 +117,10 @@ spec:
            - name: dev
              mountPath: /dev
          env:
-            - name: MQTT_BROKER
+            - name: MQTT_BROKER_HOST
              value: localhost # because use host network
+            - name: MQTT_BROKER_PORT
+              value: "30183"
            - name: MQTT_USERNAME
              valueFrom:
                secretKeyRef:
@ -135,6 +138,16 @@ spec:
                configMapKeyRef:
                  key: MQTT_TOPIC_CAMERA_OAK_COLOR
                  name: robocar
+            - name: MQTT_TOPIC_OBJECTS
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_OBJECTS
+                  name: robocar
+            - name: THRESHOLD_OBJECTS
+              valueFrom:
+                configMapKeyRef:
+                  key: THRESHOLD
+                  name: robocar-objects
            - name: CAMERA_WIDTH
              valueFrom:
                configMapKeyRef:
@ -186,12 +199,13 @@ spec:
          - "--mqtt-retain=false"
          - "--throttle-channel=15"
          - "--steering-channel=14"
-          - "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
-          - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
-          - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
-          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
-          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
+          - "--throttle-zero-pwm=$(THROTTLE_PCA9685_ZERO_PWM)"
+          - "--throttle-min-pwm=$(THROTTLE_PCA9685_MIN_PWM)"
+          - "--throttle-max-pwm=$(THROTTLE_PCA9685_MAX_PWM)"
+          - "--steering-left-pwm=$(STEERING_PCA9685_LEFT_PWM)"
+          - "--steering-right-pwm=$(STEERING_PCA9685_RIGHT_PWM)"
+          - "--steering-center-pwm=$(STEERING_PCA9685_CENTER_PWM)"
+          - "--pwm-freq=50"
          - "--update-pwm-frequency=25"
          - "--log=info"
          securityContext:
@ -201,6 +215,9 @@ spec:
          volumeMounts:
            - mountPath: /dev/i2c-1
              name: i2c
+          envFrom:
+            - configMapRef:
+                name: robocar-pca9685-pwm
          env:
            - name: MQTT_BROKER
              valueFrom:
@ -231,36 +248,6 @@ spec:
                  name: robocar
            - name: MQTT_QOS
              value: "0"
-            - name: STEERING_LEFT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_LEFT_PWM
-            - name: STEERING_RIGHT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_RIGHT_PWM
-            - name: STEERING_CENTER_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_CENTER_PWM
-            - name: THROTTLE_MIN_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MIN_PWM
-            - name: THROTTLE_MAX_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MAX_PWM
-            - name: THROTTLE_ZERO_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_ZERO_PWM
            - name: TZ
              value: "Europe/Paris"
      volumes:
--- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
@ -7,13 +7,14 @@ namespace: robocar
 resources:
  - ../common
  - deployments.yaml
+  - configmap.yaml

 images:
  - name: docker.io/cyrilix/robocar-camera
    newTag: v0.3.0

  - name: docker.io/cyrilix/robocar-pca9685
-    newTag: v0.6.1
+    newTag: v0.6.4

  - name: docker.io/cyrilix/robocar-oak-camera
-    newTag: v0.1.0
+    newTag: v0.2.0
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@ -4,13 +4,16 @@ metadata:
  name: robocar
 data:
  # Broker configuration
-  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
-  MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
+  MQTT_BROKER_HOST: nats-server.nats.svc.cluster.local
+  #MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
+  MQTT_BROKER: "tcp://nats-server.nats.svc.cluster.local:1883"

  # Camera
  MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
  MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color

+  # Objects detection
+  MQTT_TOPIC_OBJECTS: car/satanas/part/objects

  # Radio command
  MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
@ -31,6 +34,9 @@ data:
  # Records topic
  MQTT_TOPIC_RECORDS: car/satanas/part/records

+  # Feedbacks
+  MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle
+
 ---
 apiVersion: v1
 kind: ConfigMap
@ -40,8 +46,10 @@ data:
  ############
  # Throttle #
  ############
-  THROTTLE_MIN: "0.25"
-  THROTTLE_MAX: "0.4"
+  THROTTLE_MIN: "0.2"
+  THROTTLE_MAX: "0.3"
+
+
 ---
 apiVersion: v1
 kind: ConfigMap
@ -51,9 +59,17 @@ data:
  ################
  # STEERING PWM #
  ################
-  STEERING_LEFT_PWM: "1002"
+  STEERING_LEFT_PWM: "1000"
  STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1491"
+  STEERING_CENTER_PWM: "1492"
+
+  ############################
+  # STEERING PWM - SECOND RC #
+  ############################
+  STEERING_SECONDARY_LEFT_PWM: "1119"
+  STEERING_SECONDARY_RIGHT_PWM: "2141"
+  STEERING_SECONDARY_CENTER_PWM: "1641"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@ -63,12 +79,17 @@ data:
  ################
  # THROTTLE PWM #
  ################
-  #THROTTLE_MIN_PWM: "1092"
-  #THROTTLE_MAX_PWM: "1986"
-  #THROTTLE_ZERO_PWM: "1583"
-  THROTTLE_MIN_PWM: "967"
-  THROTTLE_MAX_PWM: "1966"
-  THROTTLE_ZERO_PWM: "1460"
+  THROTTLE_MIN_PWM: "994"
+  THROTTLE_MAX_PWM: "1979"
+  THROTTLE_ZERO_PWM: "1484"
+
+  ###########################
+  # THROTTLE PWM - SECOND RC #
+  ############################
+  THROTTLE_SECONDARY_MIN_PWM: "994"
+  THROTTLE_SECONDARY_MAX_PWM: "1975"
+  THROTTLE_SECONDARY_ZERO_PWM: "1506"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@ -93,12 +114,16 @@ metadata:
  name: robocar-models
 data:
  # model to use for steering
+  MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+
+  #MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite
+
+
+  #MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
  #MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
-  MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
-  MODEL_STEERING5: model_160x120h0_edgetpu.tflite
-  MODEL_STEERING3: model_edgetpu.tflite
-  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
-  MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
+
+
+  #MODEL_STEERING: model_linear_160x120h50_edgetpu.tflite

  MODEL_IMAGE_WIDTH: "160"
  MODEL_IMAGE_HEIGHT: "120"
@ -111,3 +136,59 @@ metadata:
  name: robocar-road
 data:
  HORIZON: "20"
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: steering
+data:
+  grid.json: |
+    {
+      "steering_steps": [ -1, -0.66, -0.33, 0, 0.33, 0.66, 1],
+      "distance_steps": [ 0, 0.3, 0.4, 0.5, 0.8, 1],
+      "data": [
+        [ 0, 0, 0, 0, 0, 0],
+        [ 0, 0, 0, 0, 0, 0],
+        [ 0, 0, 0.25, -0.25, 0, 0],
+        [ 0, 0.25, 0.5, -0.5, -0.25, 0],
+        [ 0.25, 0.5, 1, -1, -0.5, -0.25]
+      ]
+    }
+
+  "omf.json": | 
+    {
+      "steering_steps":[-1, -0.66, -0.33, 0, 0.33, 0.66, 1],
+      "distance_steps": [0, 0.2, 0.4, 0.6, 0.8, 1],
+      "data": [
+        [0, 0, 0, 0, 0, 0],
+        [0, 0, 0, 0, 0, 0],
+        [0, 0, 0, 0, 0, 0],
+        [0, 0.25, 0, 0, -0.25, 0],
+        [0.5, 0.25, 0, 0, -0.5, -0.25]
+      ]
+    }
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: android
+data:
+  thresholds.json: |
+    {
+      "threshold_steps": [ 0.07, 0.08, 0.09, 0.1, 0.125, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0 ],
+      "min_valid": 500,
+      "data": [ 8700, 4800, 3500, 2550, 1850, 1387, 992, 840, 750, 700, 655, 620, 590, 570, 553, 549, 548 ]
+    }
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: throttle
+data:
+  brake.json: |
+    {
+      "delta_steps": [ 0.05, 0.3, 0.5 ],
+      "data": [ -0.1, -0.5, -1.0 ]
+    }
--- a/ansible/roles/microservices/files/robocar/common/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml
@ -28,14 +28,31 @@ spec:
            - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
            - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
            - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
+            - "--steering-secondary-left-pwm=$(STEERING_SECONDARY_LEFT_PWM)"
+            - "--steering-secondary-right-pwm=$(STEERING_SECONDARY_RIGHT_PWM)"
+            - "--steering-secondary-center-pwm=$(STEERING_SECONDARY_CENTER_PWM)"
+            - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
+            - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
+            - "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
+            - "--throttle-secondary-min-pwm=$(THROTTLE_SECONDARY_MIN_PWM)"
+            - "--throttle-secondary-max-pwm=$(THROTTLE_SECONDARY_MAX_PWM)"
+            - "--throttle-secondary-center-pwm=$(THROTTLE_SECONDARY_ZERO_PWM)"
+            - '--throttle-feedback-config=/etc/robocar/thresholds.json'
            - "-log=info"
          volumeMounts:
            - mountPath: "/dev/ttyAMA0"
              name: serial
+            - mountPath: "/etc/robocar"
+              name: robocar
          securityContext:
            privileged: true
            runAsUser: 1234
            runAsGroup: 20 # Set 20/dialout group to access to serial device
+          envFrom:
+            - configMapRef:
+                name: robocar-throttle-pwm
+            - configMapRef:
+                name: robocar-steering-pwm
          env:
            - name: MQTT_BROKER
              valueFrom:
@ -74,23 +91,13 @@ spec:
                configMapKeyRef:
                  key: MQTT_TOPIC_RC_SWITCH_RECORD
                  name: robocar
+            - name: MQTT_TOPIC_THROTTLE_FEEDBACK
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar
+                  key: MQTT_TOPIC_THROTTLE_FEEDBACK
            - name: MQTT_QOS
              value: "0"
-            - name: STEERING_LEFT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_LEFT_PWM
-            - name: STEERING_RIGHT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_RIGHT_PWM
-            - name: STEERING_CENTER_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_CENTER_PWM
            - name: TZ
              value: "Europe/Paris"
      volumes:
@ -98,6 +105,9 @@ spec:
          hostPath:
            path: /dev/ttyAMA0
            type: CharDevice
+        - name: robocar
+          configMap:
+            name: android

 ---
 apiVersion: apps/v1
@ -309,6 +319,13 @@ spec:
          image: docker.io/cyrilix/robocar-steering
          args:
          - "-mqtt-retain=false"
+          - "--image-width=$(IMAGE_WIDTH)"
+          - "--image-height=$(IMAGE_HEIGHT)"
+          - "--enable-objects-correction=true"
+          - "--enable-objects-correction-user=false"
+          - "--grid-map-config=/etc/robocar/grid.json"
+          - "--objects-move-factors-config=/etc/robocar/omf.json"
+          - "--delta-middle=0.1"
          - "-log=info"
          securityContext:
            runAsUser: 1234
@ -351,10 +368,32 @@ spec:
              configMapKeyRef:
                key: MQTT_TOPIC_RC_DRIVE_MODE
                name: robocar
+          - name: MQTT_TOPIC_OBJECTS
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_OBJECTS
+                name: robocar
          - name: MQTT_QOS
            value: "0"
+          - name: IMAGE_WIDTH
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_WIDTH
+                name: robocar-camera
+          - name: IMAGE_HEIGHT
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_HEIGHT
+                name: robocar-camera
          - name: TZ
            value: "Europe/Paris"
+          volumeMounts:
+            - mountPath: /etc/robocar
+              name: robocar-configs
+      volumes:
+        - name: robocar-configs
+          configMap:
+            name: steering
 ---
 apiVersion: apps/v1
 kind: Deployment
@ -379,8 +418,10 @@ spec:
      - name: throttle
        image: docker.io/cyrilix/robocar-throttle
        args:
-        - "-mqtt-retain=false"
-        - "-debug=false"
+        - "--mqtt-retain=false"
+        - "--enable-brake-feature=true"
+        - "--brake-configuration=/etc/robocar/brake.json"
+        - "--log=info"
        securityContext:
          runAsUser: 1234
          runAsGroup: 1234
@ -417,6 +458,16 @@ spec:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_DRIVE_MODE
              name: robocar
+        - name: MQTT_TOPIC_THROTTLE_FEEDBACK
+          valueFrom:
+            configMapKeyRef:
+              name: robocar
+              key: MQTT_TOPIC_THROTTLE_FEEDBACK
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_STEERING
+              name: robocar
        - name: THROTTLE_MIN
          valueFrom:
            configMapKeyRef:
@ -431,6 +482,13 @@ spec:
          value: "0"
        - name: TZ
          value: "Europe/Paris"
+        volumeMounts:
+          - mountPath: /etc/robocar
+            name: throttle-config
+      volumes:
+        - name: throttle-config
+          configMap:
+            name: throttle
 ---
 apiVersion: apps/v1
 kind: Deployment
--- a/ansible/roles/microservices/files/robocar/common/endpoints.yaml
+++ b/ansible/roles/microservices/files/robocar/common/endpoints.yaml
@ -1,13 +0,0 @@
---
-apiVersion: v1
-kind: Endpoints
-metadata:
-  name: mqtt
-  labels:
-    app: mqtt
-subsets:
-  - addresses:
-      - ip: 192.168.2.221
-      # - ip: 192.168.217.19
-    ports:
-      - port: 1883
--- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
@ -4,22 +4,21 @@ kind: Kustomization

 resources:
  - deployments.yaml
-  - endpoints.yaml
  - services.yaml
  - configmap.yaml

 images:
  - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.7.1
+    newTag: v0.9.0

  - name: docker.io/cyrilix/robocar-led
    newTag: v0.5.1

  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.5.0
+    newTag: v0.5.3

  - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.4.2
+    newTag: v0.6.0

  - name: docker.io/cyrilix/robocar-record
    newTag: v0.5.1
@ -28,7 +27,7 @@ images:
    newTag: v0.2.1

  - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.5.1
+    newTag: v0.6.0

  - name: docker.io/cyrilix/robocar-road
    newTag: v0.2.0
--- a/ansible/roles/microservices/files/robocar/nats/configmaps.yaml
+++ b/ansible/roles/microservices/files/robocar/nats/configmaps.yaml
@ -0,0 +1,18 @@
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: nats
+data:
+  standalone.conf: |
+    server_name: nats
+    http: 0.0.0.0:8222
+    jetstream {
+      store_dir: /data/datastore
+    }
+    mqtt {
+      listen: 0.0.0.0:1883
+    }
+    authorization: {
+        user: satanas,
+        password: satanas
+    }
--- a/ansible/roles/microservices/files/robocar/nats/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/nats/kustomization.yaml
@ -0,0 +1,11 @@
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+namespace: nats
+
+resources:
+  - namespace.yaml
+  - serviceaccount.yaml
+  - configmaps.yaml
+  - statefulset.yaml
+  - services.yaml
--- a/ansible/roles/microservices/files/robocar/nats/namespace.yaml
+++ b/ansible/roles/microservices/files/robocar/nats/namespace.yaml
@ -0,0 +1,4 @@
+apiVersion: v1
+kind: Namespace
+metadata:
+  name: nats
--- a/ansible/roles/microservices/files/robocar/nats/serviceaccount.yaml
+++ b/ansible/roles/microservices/files/robocar/nats/serviceaccount.yaml
@ -0,0 +1,5 @@
+apiVersion: v1
+kind: ServiceAccount
+metadata:
+  name: nats-server
+automountServiceAccountToken: false
--- a/ansible/roles/microservices/files/robocar/nats/services.yaml
+++ b/ansible/roles/microservices/files/robocar/nats/services.yaml
@ -0,0 +1,41 @@
+apiVersion: v1
+kind: Service
+metadata:
+  name: nats-server-ext
+spec:
+  type: NodePort
+  ports:
+    - port: 4222
+      name: tcp-nats-client
+      targetPort: tcp-nats-client
+      nodePort: 30422
+    - name: http-monitoring
+      port: 8222
+      targetPort: http-monitoring
+      nodePort: 30822
+    - name: tcp-mqtt
+      port: 1883
+      targetPort: tcp-mqtt
+      nodePort: 30183
+  selector:
+    appli: nats-server
+
+---
+apiVersion: v1
+kind: Service
+metadata:
+  name: nats-server
+spec:
+  type: ClusterIP
+  ports:
+    - port: 4222
+      name: tcp-nats-client
+      targetPort: tcp-nats-client
+    - name: http-monitoring
+      port: 8222
+      targetPort: http-monitoring
+    - name: tcp-mqtt
+      port: 1883
+      targetPort: tcp-mqtt
+  selector:
+    appli: nats-server
--- a/ansible/roles/microservices/files/robocar/nats/statefulset.yaml
+++ b/ansible/roles/microservices/files/robocar/nats/statefulset.yaml
@ -0,0 +1,58 @@
+apiVersion: apps/v1
+kind: StatefulSet
+metadata:
+  name: nats-server
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  selector:
+    matchLabels:
+      appli: nats-server
+  serviceName: nats
+  replicas: 1
+  revisionHistoryLimit: 0
+  template:
+      metadata:
+        name: nats-server
+        labels:
+          appli: nats-server
+      spec:
+        serviceAccountName: nats-server
+        containers:
+          - name: nats-server
+            image: docker.io/library/nats:latest
+            args:
+              - --http_port=8222
+              - --config=/etc/nats/standalone.conf
+            ports:
+              - containerPort: 4222
+                name: tcp-nats-client
+              - name: http-monitoring
+                containerPort: 8222
+              - name: tcp-mqtt
+                containerPort: 1883
+            volumeMounts:
+              - mountPath: /etc/nats
+                name: nats-config
+              - name: nats-data
+                mountPath: /data
+        securityContext:
+          runAsUser: 1234
+          runAsGroup: 1234
+          fsGroup: 1234
+          fsGroupChangePolicy: Always
+        volumes:
+          - name: nats-config
+            configMap:
+              name: nats
+
+  volumeClaimTemplates:
+    - metadata:
+        name: nats-data
+      spec:
+        resources:
+          requests:
+            storage: 1Gi
+        storageClassName: local-path
+        accessModes:
+          - ReadWriteOnce
Author	SHA1	Message	Date
Cyrille Nofficial	c6f5f8a185	feat: detect objects	2022-10-07 14:43:05 +02:00
Cyrille Nofficial	220162f6f4	feat: replace rabbitmq with nats	2022-10-07 14:42:25 +02:00
Cyrille Nofficial	e446025e76	new car config	2022-09-04 18:05:32 +02:00
Cyrille Nofficial	6759304b25	config: config used for vivatech 2022	2022-08-16 08:46:20 +02:00
Cyrille Nofficial	3f6ff95dc0	fix(steering): reverse direction	2022-06-16 16:02:57 +02:00
Cyrille Nofficial	6562036b05	fix: configure slow drive	2022-06-16 12:30:03 +02:00