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ベースファイルの取得
$ cd ${HOME} $ git clone https://github.com/RoboticBase/example-turtlebot3
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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
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環境ファイルのコピー
$ cd $PJ_ROOT/docs/environments/minikube $ cp env.template env -
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
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プロジェクトルートに移動
$ cd $PJ_ROOT -
環境ファイルの実行
$ source $CORE_ROOT/docs/environments/minikube/env $ source $PJ_ROOT/docs/environments/minikube/env
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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
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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/$"] } ], "basic_auths": [ { "username": "1JMF6D46", "password": "6u5M0bUhfjj7wMdM", "allowed_paths": ["/controller/web/", "/visualizer/locus/"] } ], "no_auths": { "allowed_paths": ["^.*/static/.*$"] } } } ]
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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
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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
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secretsに更新済みの
auth-tokensを再登録$ kubectl create secret generic auth-tokens --from-file=${CORE_ROOT}/secrets/auth-tokens.json -
auth-tokensが更新されたことを確認-
authPodがsecretの変更を自動で検知し、認証認可情報をリロードする（数分間かかる場合がある） -
認証情報がリロードされると、次のようなログが表示される
-------- 2019/05/21 10:10:27 hosts: [.*] -------- 2019/05/21 10:10:27 bearerTokenAllowedPaths: map[.*:map[cQB5mONfXwP8tHqPQ6kWpRKNzqvbUdfq:[^/orion/.*$ ^/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/.*$]] --------
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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
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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
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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
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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
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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
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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
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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
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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
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