kubeedge: Edge deployment ERROR when edge use crio as runtime and systemd as cgroup-manager

1. install cri-o, cni and some tools, such as crictl

$ cat /etc/crictl.yaml 
runtime-endpoint: unix:///var/run/crio/crio.sock
# cgroup-manager: systemd

$ crictl version
Version:  0.1.0
RuntimeName:  cri-o
RuntimeVersion:  1.15.1-dev
RuntimeApiVersion:  v1alpha1

1. change cgroup_manager = "systemd" in /etc/crio/crio.conf

$ cat /etc/crio/crio.conf 
# The CRI-O configuration file specifies all of the available configuration
# options and command-line flags for the crio(8) OCI Kubernetes Container Runtime
# daemon, but in a TOML format that can be more easily modified and versioned.
#
# Please refer to crio.conf(5) for details of all configuration options.

# CRI-O supports partial configuration reload during runtime, which can be
# done by sending SIGHUP to the running process. Currently supported options
# are explicitly mentioned with: 'This option supports live configuration
# reload'.

# CRI-O reads its storage defaults from the containers-storage.conf(5) file
# located at /etc/containers/storage.conf. Modify this storage configuration if
# you want to change the system's defaults. If you want to modify storage just
# for CRI-O, you can change the storage configuration options here.
[crio]

# Path to the "root directory". CRI-O stores all of its data, including
# containers images, in this directory.
#root = "/var/lib/containers/storage"

# Path to the "run directory". CRI-O stores all of its state in this directory.
#runroot = "/var/run/containers/storage"

# Storage driver used to manage the storage of images and containers. Please
# refer to containers-storage.conf(5) to see all available storage drivers.
#storage_driver = "overlay"

# List to pass options to the storage driver. Please refer to
# containers-storage.conf(5) to see all available storage options.
#storage_option = [
#]

# The default log directory where all logs will go unless directly specified by
# the kubelet. The log directory specified must be an absolute directory.
log_dir = "/var/log/crio/pods"

# The crio.api table contains settings for the kubelet/gRPC interface.
[crio.api]

# Path to AF_LOCAL socket on which CRI-O will listen.
listen = "/var/run/crio/crio.sock"

# Host IP considered as the primary IP to use by CRI-O for things such as host network IP.
host_ip = ""

# IP address on which the stream server will listen.
stream_address = "127.0.0.1"

# The port on which the stream server will listen.
stream_port = "0"

# Enable encrypted TLS transport of the stream server.
stream_enable_tls = false

# Path to the x509 certificate file used to serve the encrypted stream. This
# file can change, and CRI-O will automatically pick up the changes within 5
# minutes.
stream_tls_cert = ""

# Path to the key file used to serve the encrypted stream. This file can
# change and CRI-O will automatically pick up the changes within 5 minutes.
stream_tls_key = ""

# Path to the x509 CA(s) file used to verify and authenticate client
# communication with the encrypted stream. This file can change and CRI-O will
# automatically pick up the changes within 5 minutes.
stream_tls_ca = ""

# Maximum grpc send message size in bytes. If not set or <=0, then CRI-O will default to 16 * 1024 * 1024.
grpc_max_send_msg_size = 16777216

# Maximum grpc receive message size. If not set or <= 0, then CRI-O will default to 16 * 1024 * 1024.
grpc_max_recv_msg_size = 16777216

# The crio.runtime table contains settings pertaining to the OCI runtime used
# and options for how to set up and manage the OCI runtime.
[crio.runtime]

# A list of ulimits to be set in containers by default, specified as
# "<ulimit name>=<soft limit>:<hard limit>", for example:
# "nofile=1024:2048"
# If nothing is set here, settings will be inherited from the CRI-O daemon
#default_ulimits = [
#]

# default_runtime is the _name_ of the OCI runtime to be used as the default.
# The name is matched against the runtimes map below.
default_runtime = "runc"

# If true, the runtime will not use pivot_root, but instead use MS_MOVE.
no_pivot = false

# Path to the conmon binary, used for monitoring the OCI runtime.
# Will be searched for using $PATH if empty.
conmon = ""

# Cgroup setting for conmon
conmon_cgroup = "pod"

# Environment variable list for the conmon process, used for passing necessary
# environment variables to conmon or the runtime.
conmon_env = [
	"PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin",
]

# If true, SELinux will be used for pod separation on the host.
selinux = false

# Path to the seccomp.json profile which is used as the default seccomp profile
# for the runtime. If not specified, then the internal default seccomp profile
# will be used.
seccomp_profile = ""

# Used to change the name of the default AppArmor profile of CRI-O. The default
# profile name is "crio-default-" followed by the version string of CRI-O.
apparmor_profile = "crio-default-1.15.1-dev"

# Cgroup management implementation used for the runtime.
cgroup_manager = "systemd"

# List of default capabilities for containers. If it is empty or commented out,
# only the capabilities defined in the containers json file by the user/kube
# will be added.
default_capabilities = [
	"CHOWN", 
	"DAC_OVERRIDE", 
	"FSETID", 
	"FOWNER", 
	"NET_RAW", 
	"SETGID", 
	"SETUID", 
	"SETPCAP", 
	"NET_BIND_SERVICE", 
	"SYS_CHROOT", 
	"KILL", 
]

# List of default sysctls. If it is empty or commented out, only the sysctls
# defined in the container json file by the user/kube will be added.
default_sysctls = [
]

# List of additional devices. specified as
# "<device-on-host>:<device-on-container>:<permissions>", for example: "--device=/dev/sdc:/dev/xvdc:rwm".
#If it is empty or commented out, only the devices
# defined in the container json file by the user/kube will be added.
additional_devices = [
]

# Path to OCI hooks directories for automatically executed hooks.
hooks_dir = [
]

# List of default mounts for each container. **Deprecated:** this option will
# be removed in future versions in favor of default_mounts_file.
default_mounts = [
]

# Path to the file specifying the defaults mounts for each container. The
# format of the config is /SRC:/DST, one mount per line. Notice that CRI-O reads
# its default mounts from the following two files:
#
#   1) /etc/containers/mounts.conf (i.e., default_mounts_file): This is the
#      override file, where users can either add in their own default mounts, or
#      override the default mounts shipped with the package.
#
#   2) /usr/share/containers/mounts.conf: This is the default file read for
#      mounts. If you want CRI-O to read from a different, specific mounts file,
#      you can change the default_mounts_file. Note, if this is done, CRI-O will
#      only add mounts it finds in this file.
#
#default_mounts_file = ""

# Maximum number of processes allowed in a container.
pids_limit = 1024

# Maximum sized allowed for the container log file. Negative numbers indicate
# that no size limit is imposed. If it is positive, it must be >= 8192 to
# match/exceed conmon's read buffer. The file is truncated and re-opened so the
# limit is never exceeded.
log_size_max = -1

# Whether container output should be logged to journald in addition to the kuberentes log file
log_to_journald = false

# Path to directory in which container exit files are written to by conmon.
container_exits_dir = "/var/run/crio/exits"

# Path to directory for container attach sockets.
container_attach_socket_dir = "/var/run/crio"

# The prefix to use for the source of the bind mounts.
bind_mount_prefix = ""

# If set to true, all containers will run in read-only mode.
read_only = false

# Changes the verbosity of the logs based on the level it is set to. Options
# are fatal, panic, error, warn, info, and debug. This option supports live
# configuration reload.
log_level = "info"

# The UID mappings for the user namespace of each container. A range is
# specified in the form containerUID:HostUID:Size. Multiple ranges must be
# separated by comma.
uid_mappings = ""

# The GID mappings for the user namespace of each container. A range is
# specified in the form containerGID:HostGID:Size. Multiple ranges must be
# separated by comma.
gid_mappings = ""

# The minimal amount of time in seconds to wait before issuing a timeout
# regarding the proper termination of the container.
ctr_stop_timeout = 0

# ManageNetworkNSLifecycle determines whether we pin and remove network namespace
# and manage its lifecycle.
manage_network_ns_lifecycle = false

# The "crio.runtime.runtimes" table defines a list of OCI compatible runtimes.
# The runtime to use is picked based on the runtime_handler provided by the CRI.
# If no runtime_handler is provided, the runtime will be picked based on the level
# of trust of the workload. Each entry in the table should follow the format:
#
#[crio.runtime.runtimes.runtime-handler]
#  runtime_path = "/path/to/the/executable"
#  runtime_type = "oci"
#  runtime_root = "/path/to/the/root"
#
# Where:
# - runtime-handler: name used to identify the runtime
# - runtime_path (optional, string): absolute path to the runtime executable in
#   the host filesystem. If omitted, the runtime-handler identifier should match
#   the runtime executable name, and the runtime executable should be placed
#   in $PATH.
# - runtime_type (optional, string): type of runtime, one of: "oci", "vm". If
#   omitted, an "oci" runtime is assumed.
# - runtime_root (optional, string): root directory for storage of containers
#   state.


[crio.runtime.runtimes.runc]
runtime_path = ""
runtime_type = "oci"
runtime_root = "/run/runc"


# Kata Containers is an OCI runtime, where containers are run inside lightweight
# VMs. Kata provides additional isolation towards the host, minimizing the host attack
# surface and mitigating the consequences of containers breakout.

# Kata Containers with the default configured VMM
#[crio.runtime.runtimes.kata-runtime]

# Kata Containers with the QEMU VMM
#[crio.runtime.runtimes.kata-qemu]

# Kata Containers with the Firecracker VMM
#[crio.runtime.runtimes.kata-fc]

# The crio.image table contains settings pertaining to the management of OCI images.
#
# CRI-O reads its configured registries defaults from the system wide
# containers-registries.conf(5) located in /etc/containers/registries.conf. If
# you want to modify just CRI-O, you can change the registries configuration in
# this file. Otherwise, leave insecure_registries and registries commented out to
# use the system's defaults from /etc/containers/registries.conf.
[crio.image]

# Default transport for pulling images from a remote container storage.
default_transport = "docker://"

# The path to a file containing credentials necessary for pulling images from
# secure registries. The file is similar to that of /var/lib/kubelet/config.json
global_auth_file = ""

# The image used to instantiate infra containers.
# This option supports live configuration reload.
pause_image = "docker.io/kubeedge/pause:3.1"

# The path to a file containing credentials specific for pulling the pause_image from
# above. The file is similar to that of /var/lib/kubelet/config.json
# This option supports live configuration reload.
pause_image_auth_file = ""

# The command to run to have a container stay in the paused state.
# This option supports live configuration reload.
pause_command = "/pause"

# Path to the file which decides what sort of policy we use when deciding
# whether or not to trust an image that we've pulled. It is not recommended that
# this option be used, as the default behavior of using the system-wide default
# policy (i.e., /etc/containers/policy.json) is most often preferred. Please
# refer to containers-policy.json(5) for more details.
signature_policy = ""

# List of registries to skip TLS verification for pulling images. Please
# consider configuring the registries via /etc/containers/registries.conf before
# changing them here.
#insecure_registries = "[]"

# Controls how image volumes are handled. The valid values are mkdir, bind and
# ignore; the latter will ignore volumes entirely.
image_volumes = "mkdir"

# List of registries to be used when pulling an unqualified image (e.g.,
# "alpine:latest"). By default, registries is set to "docker.io" for
# compatibility reasons. Depending on your workload and usecase you may add more
# registries (e.g., "quay.io", "registry.fedoraproject.org",
# "registry.opensuse.org", etc.).
#registries = [
# ]


# The crio.network table containers settings pertaining to the management of
# CNI plugins.
[crio.network]

# Path to the directory where CNI configuration files are located.
#network_dir = "/etc/cni/net.d/"
network_dir = "/etc/cni/net.d.bak/"

# Paths to directories where CNI plugin binaries are located.
plugin_dirs = [
	"/opt/cni/bin/",
]

# A necessary configuration for Prometheus based metrics retrieval
[crio.metrics]

# Globally enable or disable metrics support.
enable_metrics = false

# The port on which the metrics server will listen.
metrics_port = 9090

set edged.cgroup-driver=systemd, edged.runtime-type=remote, edged.remote-runtime-endpoint=unix:///var/run/crio/crio.sock, edged.remote-image-endpoint=unix:///var/run/crio/crio.sock

$ cat ~/cmd/conf/edge.yaml
mqtt:
    server: tcp://127.0.0.1:1883 # external mqtt broker url.
    internal-server: tcp://127.0.0.1:1884 # internal mqtt broker url.
    mode: 0 # 0: internal mqtt broker enable only. 1: internal and external mqtt broker enable. 2: external mqtt broker enable only.
    qos: 0 # 0: QOSAtMostOnce, 1: QOSAtLeastOnce, 2: QOSExactlyOnce.
    retain: false # if the flag set true, server will store the message and can be delivered to future subscribers.
    session-queue-size: 100 # A size of how many sessions will be handled. default to 100.

edgehub:
    websocket:
        url: wss://192.168.237.112:10000/e632aba927ea4ac2b575ec1603d56f10/edge-node/events
        certfile: /etc/kubeedge/certs/edge.crt
        keyfile: /etc/kubeedge/certs/edge.key
        handshake-timeout: 30 #second
        write-deadline: 15 # second
        read-deadline: 15 # second
    quic:
        url: 127.0.0.1:10001
        cafile: /etc/kubeedge/ca/rootCA.crt
        certfile: /etc/kubeedge/certs/edge.crt
        keyfile: /etc/kubeedge/certs/edge.key
        handshake-timeout: 30 #second
        write-deadline: 15 # second
        read-deadline: 15 # second
    controller:
        protocol: websocket # websocket, quic
        placement: false
        heartbeat: 15  # second
        refresh-ak-sk-interval: 10
        auth-info-files-path: /var/IEF/secret
        placement-url: https://10.154.193.32:7444/v1/placement_external/message_queue
        project-id: e632aba927ea4ac2b575ec1603d56f10
        node-id: edge-node

edged:
    register-node-namespace: default
    hostname-override: edge-node
    interface-name: ens33
    edged-memory-capacity-bytes: 7852396000
    node-status-update-frequency: 10 # second
    device-plugin-enabled: false
    gpu-plugin-enabled: false
    image-gc-high-threshold: 80 # percent
    image-gc-low-threshold: 40 # percent
    maximum-dead-containers-per-container: 1
    docker-address: unix:///var/run/docker.sock
    version: v1.10.9-kubeedge-v1.0.0
    runtime-type: remote
    remote-runtime-endpoint: unix:///var/run/crio/crio.sock
    remote-image-endpoint: unix:///var/run/crio/crio.sock
    runtime-request-timeout: 2
    podsandbox-image: kubeedge/pause:3.1 # kubeedge/pause:3.1 for x86 arch , kubeedge/pause-arm:3.1 for arm arch, kubeedge/pause-arm64 for arm64 arch
    image-pull-progress-deadline: 60 # second
    cgroup-driver: systemd

mesh:
    loadbalance:
        strategy-name: RoundRobin