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06_operate_turtlebot3.md

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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. mqttファイルの編集

    raspberrypi$ cp conf/pxkwcr-minikube.yaml.template conf/pxkwcr-minikube.yaml
raspberrypi$ vi conf/pxkwcr-minikube.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: "${MQTT_HOST}"
  port: 1883
  username: "raspberrypi"
  password: "${RASPI_RASSWORD}"
  topics:
    - key: "controller"
      value: "/demo1/gamepad/attrs"

  2. 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-minikube

    • 実行結果（例）

      2018/07/19 14:20:12 [   INFO] src.controller - connected mqtt broker[192.168.99.1:1883], response_code=0

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/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 openbrowser='open'
  alias externalHostIp='ifconfig ${IFNAME} | awk '"'"'/inet / {print $2}'"'"
elif [ "$(expr substr $(uname -s) 1 5)" == 'Linux' ]; then
  alias openbrowser='xdg-open'
  alias externalHostIp='ifconfig ${IFNAME} | awk '"'"'/inet / {print $2}'"'"' | cut -d: -f2'
else
  echo "Your platform ($(uname -a)) is not supported."
  exit 1
fi

minikubeが動作しているPCのLAN向けIP addressの取得

  1. minikubeが動作しているPCがLANに接続しているInterfaceの名前を確認

    $ export LANG=C
$ ifconfig

  2. 確認したInterface名を環境変数 IFNAME に設定

    ※ Interface名が en0 だった場合

    $ export IFNAME="en0"

  3. minikubeのLAN向けipを設定

    $ export EXTERNAL_HOST_IPADDR=$(externalHostIp); echo ${EXTERNAL_HOST_IPADDR}

    • 実行結果（例）

      172.16.10.25

Webコントローラの起動

  1. ユーザ名とパスワードの確認

    $ cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.basic_auths | map(select(.allowed_paths[] | contains ("/controller/web"))) | .[0].username' -r

    $ cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.basic_auths | map(select(.allowed_paths[] | contains ("/controller/web"))) | .[0].password' -r

  2. web controllerの表示

    $ openbrowser http://${HOST_IPADDR}:8080/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-minikube-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 ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-minikube-wide.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

    • 実行結果（例）

      delete /home/ros/example-turtlebot3/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-minikube-wide.yaml to http://172.16.10.25:8080
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-minikube-narrowを作成

    $ envsubst < ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-minikube-narrow.yaml > /tmp/fiware-ros-turtlebot3-operator-deployment-minikube-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 \
  ${PJ_ROOT}/tools/deploy_yaml.py /tmp/fiware-ros-turtlebot3-operator-deployment-minikube-narrow.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}
$ rm /tmp/fiware-ros-turtlebot3-operator-deployment-minikube-narrow.yaml

    • 実行結果（例）

      apply /tmp/fiware-ros-turtlebot3-operator-deployment-minikube-narrow.yaml to http://172.16.10.25:8080
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-c7ff5cf64-dsnmg   1/1     Running   0          2m

  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 ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-minikube-narrow.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

    • 実行結果（例)

      delete /home/ros/example-turtlebot3/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-minikube-narrow.yaml to http://172.16.10.25:8080
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-minikube-wideを作成

    $ envsubst < ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-minikube-wide.yaml > /tmp/fiware-ros-turtlebot3-operator-deployment-minikube-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 \
  ${PJ_ROOT}/tools/deploy_yaml.py /tmp/fiware-ros-turtlebot3-operator-deployment-minikube-wide.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}
$ rm /tmp/fiware-ros-turtlebot3-operator-deployment-minikube-wide.yaml

    • 実行結果（例）

      apply /tmp/fiware-ros-turtlebot3-operator-deployment-minikube-wide.yaml to http://172.16.10.25:8080
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-769d467f69-zxhbq   1/1     Running   0          2m

  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