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Turtlebot3 試験環境 インストールマニュアル #1

構築環境(2019年7月18日現在)

roboticbaseのインストール

RoboticBase/example-turtlebot3の取得

  1. ベースファイルの取得

    $ cd ${HOME}
$ git clone https://github.com/RoboticBase/example-turtlebot3

環境変数の設定

  1. 環境変数の設定

    $ export CORE_ROOT=$HOME/core
$ export PJ_ROOT=$HOME/example-turtlebot3
$ cd $PJ_ROOT;pwd

    • 実行結果（例）

      /home/fiware/example-turtlebot3

  2. 環境ファイルのコピー

    $ cd $PJ_ROOT/docs/environments/azure_aks
$ cp env.template env

  3. 環境ファイルの設定

    $ vi env

    #!/bin/bash
export MQTT__raspberrypi="password_of_raspberrypi"; echo "MQTT__raspberrypi=${MQTT__raspberrypi}"
export MQTT__ros="password_of_ros"; echo "MQTT__ros=${MQTT__ros}"

export FIWARE_SERVICE="fiwaredemo"; echo "FIWARE_SERVICE=${FIWARE_SERVICE}"
export ROBOT_SERVICEPATH="/robot"; echo "ROBOT_SERVICEPATH=${ROBOT_SERVICEPATH}"
export ROBOT_ID="turtlebot3"; echo "ROBOT_ID=${ROBOT_ID}"
export ROBOT_TYPE="robot"; echo "ROBOT_TYPE=${ROBOT_TYPE}"
export GAMEPAD_SERVICEPATH="/gamepad"; echo "GAMEPAD_SERVICEPATH=${GAMEPAD_SERVICEPATH}"
export GAMEPAD_ID="gamepad"; echo "GAMEPAD_ID=${GAMEPAD_ID}"
export GAMEPAD_TYPE="gamepad"; echo "GAMEPAD_TYPE=${GAMEPAD_TYPE}"
export DEPLOYER_SERVICEPATH="/deployer"; echo "DEPLOYER_SERVICEPATH=${DEPLOYER_SERVICEPATH}"
export DEPLOYER_ID="deployer_01"; echo "DEPLOYER_ID=${DEPLOYER_ID}"
export DEPLOYER_TYPE="deployer"; echo "DEPLOYER_TYPE=${DEPLOYER_TYPE}"
    • MQTT__raspberrypi と MQTT__ros の値（どちらもMQTTユーザのパスワード）を変更してください

  4. プロジェクトルートに移動

    $ cd $PJ_ROOT

  5. 環境ファイルの実行

    $ source $CORE_ROOT/docs/environments/azure_aks/env
$ source $PJ_ROOT/docs/environments/azure_aks/env

コマンドのエイリアスを設定

  1. エイリアスの設定

    $ if [ "$(uname)" == 'Darwin' ]; then
  alias randomstr8='cat /dev/urandom | LC_CTYPE=C tr -dc 'a-zA-Z0-9' | head -c 8'
  alias randomstr16='cat /dev/urandom | LC_CTYPE=C tr -dc 'a-zA-Z0-9' | head -c 16'
  alias randomstr32='cat /dev/urandom | LC_CTYPE=C tr -dc 'a-zA-Z0-9' | head -c 32'
elif [ "$(expr substr $(uname -s) 1 5)" == 'Linux' ]; then
  alias randomstr8='cat /dev/urandom 2>/dev/null | head -n 40 | tr -cd 'a-zA-Z0-9' | head -c 8'
  alias randomstr16='cat /dev/urandom 2>/dev/null | head -n 40 | tr -cd 'a-zA-Z0-9' | head -c 16'
  alias randomstr32='cat /dev/urandom 2>/dev/null | head -n 40 | tr -cd 'a-zA-Z0-9' | head -c 32'
else
  echo "Your platform ($(uname -a)) is not supported."
  exit 1
fi

example-turtlebot3用のTokenやBasic認証の設定を auth-tokens.json に追加

  1. auth-tokens.json を更新

    $ cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.|=.+[{
  "host": "web\\..+$",
  "settings": {
    "bearer_tokens": [
      {
        "token": "'$(randomstr32)'",
        "allowed_paths": ["^/visualizer/positions/$"]
      }
    ],
    "basic_auths": [
      {
        "username": "'$(randomstr8)'",
        "password": "'$(randomstr16)'",
        "allowed_paths": ["/controller/web/", "/visualizer/locus/"]
      }
    ],
    "no_auths": {
      "allowed_paths": ["^.*/static/.*$"]
    }
  }
}]' | tee /tmp/auth-tokens.json
$ mv ${CORE_ROOT}/secrets/auth-tokens.json ${CORE_ROOT}/secrets/auth-tokens.json.back
$ mv /tmp/auth-tokens.json ${CORE_ROOT}/secrets/auth-tokens.json

    • 実行結果（例）

      [
  {
    "host": "api\\..+$",
    "settings": {
      "bearer_tokens": [
        {
          "token": "WXhHypvQL0QTBCAVrqUD6eLFen13g8vj",
          "allowed_paths": [
            "^/orion/.*$",
            "^/idas/.*$",
            "^/comet/.*$"
          ]
        }
      ],
      "basic_auths": [],
      "no_auths": {
        "allowed_paths": []
      }
    }
  },
  {
    "host": "kibana\\..+$",
    "settings": {
      "bearer_tokens": [],
      "basic_auths": [
        {
          "username": "Hsgf5pdB",
          "password": "BCsQuZvbG9CW5tSQ",
          "allowed_paths": [
            "^.*$"
          ]
        }
      ],
      "no_auths": {
        "allowed_paths": []
      }
    }
  },
  {
    "host": "grafana\\..+$",
    "settings": {
      "bearer_tokens": [],
      "basic_auths": [],
      "no_auths": {
        "allowed_paths": [
          "^.*$"
        ]
      }
    }
  },
  {
    "host": "web\\..+$",
    "settings": {
      "bearer_tokens": [
        {
          "token": "Vi5NtQ0KCyHHXPaltXyifh7CTpgtmBDV",
          "allowed_paths": [
            "^/visualizer/positions/$"
          ]
        }
      ],
      "basic_auths": [
        {
          "username": "4cBTquF1",
          "password": "Vltnne0C89oLfcjz",
          "allowed_paths": [
            "/controller/web/",
            "/visualizer/locus/"
          ]
        }
      ],
      "no_auths": {
        "allowed_paths": [
          "^.*/static/.*$"
        ]
      }
    }
  }
]

  2. auth のログを監視

    • 別ターミナルを開いて、次のコマンドを実行

      $ kubectl logs -f -lapp=auth --all-containers=true

  3. Kubernetesのsecretに登録されている auth-tokens を削除

    • secretを削除しても、 auth のログには変化が無い

      $ kubectl delete secret auth-tokens

  4. secretsに更新済みの auth-tokens を再登録

    $ kubectl create secret generic auth-tokens --from-file=${CORE_ROOT}/secrets/auth-tokens.json

  5. auth-tokens が更新されたことを確認

    • auth Podがsecretの変更を自動で検知し、認証認可情報をリロードする（数分間かかる場合がある）

    • 認証情報がリロードされると、次のようなログが表示される

      --------
2019/05/21 01:51:07 hosts: [api\..+$ kibana\..+$ grafana\..+$ web\..+$]
--------
2019/05/21 01:51:07 bearerTokenAllowedPaths: map[api\..+$:map[XbZX1LpVv7DG9fu1X3WUq5kiqZyF34zI:[^/orion/.*$ ^/idas/.*$ ^/comet/.*$]] web\..+$:map[Udgzdg6xMD5ymtQlInFHsM5UVD9OA2Wi:[^/visualizer/positions/$]]]
--------
2019/05/21 01:51:07 basicAuthPaths, map[kibana\..+$:map[^.*$:map[1IGQBVF5:zRa2mxZVdBOyO6Zd]] web\..+$:map[/controller/web/:map[1JMF6D46:6u5M0bUhfjj7wMdM] /visualizer/locus/:map[1JMF6D46:6u5M0bUhfjj7wMdM]]]
--------
2019/05/21 01:51:07 noAuthPaths, map[grafana\..+$:[^.*$] web\..+$:[^.*/static/.*$] api\..+$:[] kibana\..+$:[]]
--------

AKSでcommand proxy serviceを起動

  1. cmd-proxy-serviceの作成

    $ kubectl apply -f controller/cmd-proxy-service.yaml

    • 実行結果（例）

      service/cmd-proxy created

  2. cmd-proxy-deploymentの作成

    $ envsubst < controller/cmd-proxy-deployment.yaml | kubectl apply -f -

    • 実行結果（例）

      deployment.apps/cmd-proxy created

  3. cmd-proxyのpods状態確認

    $ kubectl get pods -l app=cmd-proxy

    • 実行結果（例）

      NAME                         READY   STATUS    RESTARTS   AGE
cmd-proxy-5fb7b6fd57-qfwfd   1/1     Running   0          25s
cmd-proxy-5fb7b6fd57-w5f5r   1/1     Running   0          25s
cmd-proxy-5fb7b6fd57-x2bkk   1/1     Running   0          25s

  4. cmd-proxyのservices状態確認

    $ kubectl get services -l app=cmd-proxy

    • 実行結果（例）

      NAME        TYPE        CLUSTER-IP    EXTERNAL-IP   PORT(S)    AGE
cmd-proxy   ClusterIP   10.0.193.29   <none>        8888/TCP   52s

AKSでrobot visualizationを起動

  1. robot-visualization-serviceの作成

    $ kubectl apply -f controller/robot-visualization-service.yaml

    • 実行結果（例）

      service/robot-visualization created

  2. robot-visualization-deploymentの作成

    $ env BEARER_AUTH=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[]|select(.host == "web\\..+$")|.settings.bearer_tokens | map(select(.allowed_paths[] | contains("^/visualizer/positions/$"))) | .[0].token' -r) envsubst < controller/robot-visualization-deployment.yaml | kubectl apply -f -

    • 実行結果（例）

      deployment.apps/robot-visualization created

  3. robot-visualizationのpods状態確認

    $ kubectl get pods -l app=robot-visualization

    • 実行結果（例）

      NAME                                   READY   STATUS    RESTARTS   AGE
robot-visualization-774bbdc8d7-2pbt6   1/1     Running   0          2m
robot-visualization-774bbdc8d7-d5rw7   1/1     Running   0          2m
robot-visualization-774bbdc8d7-fdhkm   1/1     Running   0          2m

  4. robot-visualizationのservices状態確認

    $ kubectl get services -l app=robot-visualization

    • 実行結果（例）

      NAME                  TYPE        CLUSTER-IP     EXTERNAL-IP   PORT(S)    AGE
robot-visualization   ClusterIP   10.111.11.84   <none>        8888/TCP   3m

ビジネスロジックのサブドメインをDNSレコードに追加

  1. ambassadorのグローバルIPアドレスを取得

    $ HTTPS_IPADDR=$(kubectl get services -l app=ambassador -o json | jq '.items[0].status.loadBalancer.ingress[0].ip' -r)

  2. ambassadorのサブドメイン（ web ）をDNSレコードを追加

    $ az network dns record-set a add-record --resource-group ${DNS_ZONE_RG} --zone-name "${DOMAIN}" --record-set-name "web" --ipv4-address "${HTTPS_IPADDR}"

    • 実行結果（例）

      {
    "arecords": [
        {
            "ipv4Address": "XX.XX.XX.XX"
        }
    ],
    "etag": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
    "fqdn": "web.example.com.",
    "id": "/subscriptions/xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx/resourceGroups/dns-zone/providers/Microsoft.Network/dnszones/example.com/A/api",
    "metadata": null,
    "name": "web",
    "provisioningState": "Succeeded",
    "resourceGroup": "dns-zone",
    "targetResource": {
        "id": null
    },
    "ttl": 3600,
    "type": "Microsoft.Network/dnszones/A"
}

  3. webドメインの名前解決確認

    $ nslookup web.${DOMAIN}

    • 実行結果（例）

      Server:         127.0.1.1
Address:        127.0.1.1#53

Non-authoritative answer:
Name:   web.example.com
Address: XX.XX.XX.XX

  4. webドメインの確認

    $ curl -i https://web.${DOMAIN}/controller/web/

    • 実行結果（例）

      HTTP/1.1 401 Unauthorized
www-authenticate: Basic realm="basic authentication required"
content-length: 0
date: Thu, 21 Feb 2019 00:32:29 GMT
server: envoy