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Cloud Architecture using RDO

I have questions related to architecture of a new cloud using RDO, I understood that we need 3 controller nodes for the cloud, in one of the links it speaks about the undercloud a separate node, and in the book "Openstack cloud essentials"it speaks about the networking node, does that mean I need 1 baremetal node for the undercloud, 1 baremetal node for networking, and 3 baremetal nodes for the controllers, and the rest are for computing and storage?Is the undercloud is a separate baremetal than the overcloud implementations?