Skip to content
This repository has been archived by the owner on Sep 26, 2023. It is now read-only.

Latest commit

 

History

History
290 lines (221 loc) · 8.75 KB

01_start_pods.md

File metadata and controls

290 lines (221 loc) · 8.75 KB
Raw

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/minikube
$ 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/minikube/env
$ source $PJ_ROOT/docs/environments/minikube/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 ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens|=.+[
  {
    "token": "'$(randomstr32)'",
    "allowed_paths": ["^/visualizer/positions/$"]
  }
]' | jq '.[0].settings.basic_auths|=.+[
  {
    "username": "'$(randomstr8)'",
    "password": "'$(randomstr16)'",
    "allowed_paths": ["/controller/web/", "/visualizer/locus/"]
  }
]' | jq '.[0].settings.no_auths.allowed_paths|=.+[
  "^.*/static/.*$"
]' | 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": ".*",
        "settings": {
            "bearer_tokens": [
                {
                    "token": "1IqNHfjQsD84mPHvciATObXM3ozfHmX1",
                    "allowed_paths": ["^/orion/.*$", "^/idas/.*$", "^/comet/.*$"]
                }, {
                    "token": "mgMVtijGi6JWX9HT2PFXkZ6xqSdOZVVd",
                    "allowed_paths": ["^/visualizer/positions/$"]
                }
            ],
            "basic_auths": [
              {
                "username": "1JMF6D46",
                "password": "6u5M0bUhfjj7wMdM",
                "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 10:10:27 hosts: [.*]
--------
2019/05/21 10:10:27 bearerTokenAllowedPaths: map[.*:map[cQB5mONfXwP8tHqPQ6kWpRKNzqvbUdfq:[^/orion/.*$ ^/idas/.*$ ^/comet/.*$] Tx2b6WD0rYH6uz6Gwe6F2hfaFxp0geg8:[^/visualizer/positions/$]]]
--------
2019/05/21 10:10:27 basicAuthPaths, map[.*:map[/controller/web/:map[xQdM56jY:jKwHUgGGYDYt0UJJ] /visualizer/locus/:map[xQdM56jY:jKwHUgGGYDYt0UJJ]]]
--------
2019/05/21 10:10:27 noAuthPaths, map[.*:[^.*/static/.*$]]
--------

command proxy serviceの設定

  1. cmd-proxy-minikube-serviceの作成

    $ kubectl apply -f controller/cmd-proxy-minikube-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-5fb7b6fd57-6zfs9   1/1     Running   0          109s
cmd-proxy-5fb7b6fd57-b8hnv   1/1     Running   0          109s
cmd-proxy-5fb7b6fd57-h69km   1/1     Running   0          109s

  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   10.104.44.219   <none>        8888/TCP   2m54s

robot visualizationの設定

  1. robot-visualization-minikube-serviceの作成

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

    • 実行結果（例）

      service/robot-visualization created

  2. robot-visualization-deploymentの作成

    $ env BEARER_AUTH=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens | map(select(.allowed_paths[] | contains ("^/visualizer/positions/$"))) | .[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-84cc796765-5dwc9   1/1     Running   0          63s
robot-visualization-84cc796765-btjcw   1/1     Running   0          64s
robot-visualization-84cc796765-j9hlk   1/1     Running   0          63s

  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   10.97.80.63   <none>        8888/TCP   107s