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This repository has been archived by the owner on Sep 26, 2023.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

Latest commit

 

History

History
317 lines (221 loc) · 9.28 KB

06_operate_turtlebot3.md

File metadata and controls

317 lines (221 loc) · 9.28 KB

Turtlebot3 試験環境 インストールマニュアル #6

構築環境(2019年7月18日現在)

gemepadの準備

gamepadを利用する場合はCの手順、Webコントローラーを利用する場合はDの手順を実施します

C.gamepadでturtlebot3を操作

Raspberry Piにgamepadを接続

  1. sshでRaspberry Piに接続

  2. gamepadコントローラのベースファイルの取得

    rasberrypi$ git clone https://github.com/RoboticBase/fiware-gamepad-controller.git

MQTTブローカーの設定

  1. 証明書ファイルのコピー

    $ scp ${PJ_ROOT}/secrets/DST_Root_CA_X3.pem ${user}@${raspberry_pi}:${repogitory_root}/secrets/ca.crt

  2. mqttファイルの編集

    raspberrypi$ conf/pxkwcr-azure.yaml.template conf/pxkwcr-azure.yaml

raspberrypi$ vi conf/pxkwcr-azure.yaml

    ※host,username,passwordの項目を編集してください

    name: "FUJIWORK PXKWCR Controller"
controller:
  buttons:
    - key: 0
      value: "triangle"
    - key: 1
      value: "circle"
    - key: 2
      value: "cross"
    - key: 3
      value: "square"
  hats:
    - x: 0
      y: 1
      value: "up"
    - x: 0
      y: -1
      value: "down"
    - x: 1
      y: 0
      value: "right"
    - x: -1
      y: 0
      value: "left"
mqtt:
  host: "${MQTT_HOST}"
  port: 8883
  cafile: "secrets/ca.crt"
  username: "raspberrypi"
  password: "${RASPI_PASSWORD}"
  topics:
    - key: "controller"
      value: "/gamepad/gamepad/attrs"

  3. bridge node用のPythonライブラリのインストール

    raspoberypi$ pip install -r requirements/common.txt

gamepadの起動

  1. gemepadの起動

    raspberrypi$ ./main.py pxkwcr-azure

    • 実行結果（例）

      2018/07/19 14:20:12 [   INFO] src.controller - connected mqtt broker[mqtt.cloudconductor.jp:8883], response_code=0

      ※response_codeが0以外の場合は、pxkwcr-azure.yamlかca.crtあるいは、その両方が無効です

turtlebot3の動作確認

  1. gamepadの「〇」をクリック

  2. turtlebot3が移動したことを確認

D.WEBコントローラーでturtlebot3を操作

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

    $ if [ "$(uname)" == 'Darwin' ]; then
  alias openbrowser='open'
elif [ "$(expr substr $(uname -s) 1 5)" == 'Linux' ]; then
  alias openbrowser='xdg-open'
else
  echo "Your platform ($(uname -a)) is not supported."
  exit 1
fi

Webコントローラでturtlebot3を操作

  1. ユーザ名とパスワードの確認

    $ cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[]|select(.host == "web\\..+$")|.settings.basic_auths[0].username' -r

    $ cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[]|select(.host == "web\\..+$")|.settings.basic_auths[0].password' -r

  2. web controllerの表示

    $ openbrowser https://web.${DOMAIN}/controller/web/

turtlebot3の動作確認

  1. turtlebot3の動作確認【turtlebot3-pc】

    1. 「ユーザ名」と「パスワード」を入力し、「OK」をクリック

      webcontroller001

    2. web controllerの「〇」をクリック

      webcontroller002

    3. turtlebot3が移動したことを確認

      webcontroller003

robotのプログラムを変更

  1. tagを指定

    $ export OPERATOR_GIT_REV="0.3.0"

  2. fiware-ros-turtlebot3-operator-deployment-acr-wideを削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-acr-wide.yaml https://api.${DOMAIN} ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

    • 実行結果（例）

      delete /home/fiware/example-turtlebot3/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-acr-wide.yaml to https://api.example.com
status_code=204, body=

  3. turtlebot3-operatorのpodを確認【turtlebot3-pc】

    turtlebot3-pc$ kubectl get pods -l app=turtlebot3-operator

    • 実行結果（例）

      No resources found.

  4. fiware-ros-turtlebot3-operator-deployment-acr-narrowを作成

    $ envsubst < ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-acr-narrow.yaml > /tmp/fiware-ros-turtlebot3-operator-deployment-acr-narrow.yaml
$ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -v /tmp:/tmp -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py /tmp/fiware-ros-turtlebot3-operator-deployment-acr-narrow.yaml https://api.${DOMAIN} ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}
$ rm /tmp/fiware-ros-turtlebot3-operator-deployment-acr-narrow.yaml

    • 実行結果（例）

      apply /tmp/fiware-ros-turtlebot3-operator-deployment-acr-narrow.yaml to https://api.example.com
status_code=204, body=

  5. turtlebot3-operatorのpodを確認【turtlebot3-pc】

    turtlebot3-pc$ kubectl get pods -l app=turtlebot3-operator

    • 実行結果（例）

      NAME                                   READY     STATUS    RESTARTS   AGE
turtlebot3-operator-7bd5895459-m544p   1/1       Running   0          1h

  6. turtlebot3の動作確認【turtlebot3-pc】

    1. web controllerの「〇」をクリック

      webcontroller002

    2. turtlebot3が移動したことを確認（先ほどより小さい円で動作）

      webcontroller004

robotのプログラムを元に戻す

  1. fiware-ros-turtlebot3-operator-deployment-acr-narrowを削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-acr-narrow.yaml https://api.${DOMAIN} ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

    • 実行結果（例)

      delete /home/fiware/example-turtlebot3/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-acr-narrow.yaml to https://api.example.com
status_code=204, body=

  2. turtlebot3-operatorのpodを確認【turtlebot3-pc】

    turtlebot3-pc$ kubectl get pods -l app=turtlebot3-operator

    • 実行結果（例)

      No resources found.

  3. fiware-ros-turtlebot3-operator-deployment-acr-wideを作成

    $ envsubst < ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-acr-wide.yaml > /tmp/fiware-ros-turtlebot3-operator-deployment-acr-wide.yaml
$ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -v /tmp:/tmp -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py /tmp/fiware-ros-turtlebot3-operator-deployment-acr-wide.yaml https://api.${DOMAIN} ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}
$ rm /tmp/fiware-ros-turtlebot3-operator-deployment-acr-wide.yaml

    • 実行結果（例）

      apply /tmp/fiware-ros-turtlebot3-operator-deployment-acr-wide.yaml to https://api.example.com
status_code=204, body=

  4. turtlebot3-operatorのpodを確認【turtlebot3-pc】

    turtlebot3-pc$ kubectl get pods -l app=turtlebot3-operator

    • 実行結果（例)

      NAME                                 READY     STATUS    RESTARTS   AGE
turtlebot3-operator-b5c598bb-7bdnb   1/1       Running   0          35s

  5. turtlebot3の動作確認【turtlebot3-pc】

    1. web controllerの「〇」をクリック

      webcontroller002

    2. turtlebot3が移動したことを確認

      webcontroller005