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Turtlebot3 試験環境 インストールマニュアル #3

構築環境(2019年7月18日現在)

Azure Kubernetes Service(AKS)のfiwareにbusiness logicを登録

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

    $ alias now="python -c 'import datetime; print(datetime.datetime.now().strftime(\"%Y-%m-%dT%H:%M:%S.%f+09:00\"))'"

cmd-proxyの購読者登録

  1. cmd-proxyの購読者登録

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -i -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" -H "Content-Type: application/json" https://api.${DOMAIN}/orion/v2/subscriptions/ -X POST -d @- <<__EOS__
{
  "subject": {
    "entities": [{
      "idPattern": "${GAMEPAD_ID}.*",
      "type": "${GAMEPAD_TYPE}"
    }],
    "condition": {
      "attrs": ["button"]
    }
  },
  "notification": {
    "http": {
      "url": "http://cmd-proxy:8888/gamepad/"
    },
    "attrs": ["button"]
  }
}
__EOS__

    • 実行結果（例）

      HTTP/1.1 201 Created
content-length: 0
location: /v2/subscriptions/5c76130587d8d200d5183a54
fiware-correlator: c8e4afbc-3a48-11e9-b967-5a27bdec5d3b
date: Wed, 27 Feb 2019 04:33:09 GMT
x-envoy-upstream-service-time: 3
server: envoy

  2. cmd-proxyの購読者登録確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/subscriptions/ | jq .

    • 実行結果（例）

      [
  {
    "id": "5cc1a019e94c6631c96628f2",
    "status": "active",
    "subject": {
      "entities": [
        {
          "idPattern": "gamepad.*",
          "type": "gamepad"
        }
      ],
      "condition": {
        "attrs": [
          "button"
        ]
      }
    },
    "notification": {
      "timesSent": 2,
      "lastNotification": "2019-04-25T12:09:50.00Z",
      "attrs": [
        "button"
      ],
      "attrsFormat": "legacy",
      "http": {
        "url": "http://cygnus-mongo:5050/notify"
      },
      "lastSuccess": "2019-04-25T12:09:50.00Z",
      "lastSuccessCode": 200
    }
  },
  {
    "id": "5cc1a62de94c6631c96628f5",
    "status": "active",
    "subject": {
      "entities": [
        {
          "idPattern": "gamepad.*",
          "type": "gamepad"
        }
      ],
      "condition": {
        "attrs": [
          "button"
        ]
      }
    },
    "notification": {
      "timesSent": 1,
      "lastNotification": "2019-04-25T12:21:01.00Z",
      "attrs": [
        "button"
      ],
      "attrsFormat": "normalized",
      "http": {
        "url": "http://cmd-proxy:8888/gamepad/"
      },
      "lastSuccess": "2019-04-25T12:21:01.00Z",
      "lastSuccessCode": 200
    }
  }
]

gamepadのボタンを押下時、robotに送信されたコマンドの確認

  1. 全てのTopicをsubscribeするコマンドを作成

    $ echo "mosquitto_sub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /#"

    • 実行結果（例）

      mosquitto_sub -h mqtt.example.com -p 8883 --cafile /home/fiware/core/secrets/DST_Root_CA_X3.pem -d -u iotagent -P password_of_iotagent -t /#

  2. 別ターミナルで上記のコマンドを実行

    • 実行結果（例）

      Client mosq/e2bUj8YgCn16fupuXH sending CONNECT
Client mosq/e2bUj8YgCn16fupuXH received CONNACK (0)
Client mosq/e2bUj8YgCn16fupuXH sending SUBSCRIBE (Mid: 1, Topic: /#, QoS: 0, Options: 0x00)
Client mosq/e2bUj8YgCn16fupuXH received SUBACK
Subscribed (mid: 1): 0

  3. gamepadをエミュレーションするコマンドを実行

    $ mosquitto_pub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /${GAMEPAD_TYPE}/${GAMEPAD_ID}/attrs -m "$(now)|button|triangle"

    • 実行結果（例）

      Client mosqpub|27040-FIWARE-PC sending CONNECT
Client mosqpub|27040-FIWARE-PC received CONNACK (0)
Client mosqpub|27040-FIWARE-PC sending PUBLISH (d0, q0, r0, m1, '/gamepad/gamepad/attrs', ... (51 bytes))
Client mosqpub|27040-FIWARE-PC sending DISCONNECT

  4. 別ターミナルで下記が表示されていることを確認

    • 実行結果（例）

      Client mosqsub|12971-FIWARE-PC received PUBLISH (d0, q0, r0, m0, '/gamepad/gamepad/attrs', ... (51 bytes))
2019-04-25T21:21:59.1556194919+0900|button|triangle
Client mosqsub|6736-FIWARE-PC received PUBLISH (d0, q0, r0, m0, '/robot/turtlebot3/cmd', ... (24 bytes))
turtlebot3@move|triangle

  5. gamepad entityの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${GAMEPAD_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "gamepad",
  "type": "gamepad",
  "TimeInstant": {
    "type": "ISO8601",
    "value": "2019-04-25T21:21:59.1556194919+0900",
    "metadata": {}
  },
  "button": {
    "type": "string",
    "value": "triangle",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:21:59.1556194919+0900"
      }
    }
  }
}

  6. robot entityの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${ROBOT_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "turtlebot3",
  "type": "robot",
  "TimeInstant": {
    "type": "ISO8601",
    "value": "2019-04-25T12:22:21.00Z",
    "metadata": {}
  },
  "capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "charge": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "current": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "design_capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "move_info": {
    "type": "commandResult",
    "value": "executed square command",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T12:16:05.676Z"
      }
    }
  },
  "move_status": {
    "type": "commandStatus",
    "value": "PENDING",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T12:22:21.300Z"
      }
    }
  },
  "percentage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "theta": {
    "type": "float32",
    "value": "0.4",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "voltage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "x": {
    "type": "float32",
    "value": "0.1",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "y": {
    "type": "float32",
    "value": "0.2",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "z": {
    "type": "float32",
    "value": "0.3",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "move": {
    "type": "string",
    "value": "",
    "metadata": {}
  }
}

  7. コマンド実行結果の送信処理をエミュレート

    $ mosquitto_pub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /${ROBOT_TYPE}/${ROBOT_ID}/cmdexe -m "${ROBOT_ID}@move|executed triangle command"

    • 実行結果（例）

      Client mosqpub|27400-FIWARE-PC sending CONNECT
Client mosqpub|27400-FIWARE-PC received CONNACK (0)
Client mosqpub|27400-FIWARE-PC sending PUBLISH (d0, q0, r0, m1, '/robot/turtlebot3/cmdexe', ... (41 bytes))
Client mosqpub|27400-FIWARE-PC sending DISCONNECT

  8. 別ターミナルで下記が表示されていることを確認

    Client mosqsub|27388-FIWARE-PC received PUBLISH (d0, q0, r0, m0, '/robot/turtlebot3/cmdexe', ... (41 bytes))
turtlebot3@move|executed triangle command

  9. robot entityの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${ROBOT_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "turtlebot3",
  "type": "robot",
  "TimeInstant": {
    "type": "ISO8601",
    "value": "2019-04-25T12:24:02.00Z",
    "metadata": {}
  },
  "capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "charge": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "current": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "design_capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "move_info": {
    "type": "commandResult",
    "value": "executed triangle command",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T12:24:02.171Z"
      }
    }
  },
  "move_status": {
    "type": "commandStatus",
    "value": "OK",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T12:24:02.171Z"
      }
    }
  },
  "percentage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "theta": {
    "type": "float32",
    "value": "0.4",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "voltage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "x": {
    "type": "float32",
    "value": "0.1",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "y": {
    "type": "float32",
    "value": "0.2",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "z": {
    "type": "float32",
    "value": "0.3",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "move": {
    "type": "string",
    "value": "",
    "metadata": {}
  }
}