canopy_server_startup

Requirements

• Docker 1.13.0+ (https://docs.docker.com/install/)
• Docker Compose (https://docs.docker.com/compose/install/)

Running

To build and run the Canopy server stack:

git clone https://github.com/canopy-ros/canopy_server_startup.git
cd canopy_server_startup
docker-compose build
docker-compose up

Additional options for Canopy server deployment are described below.

Server Configuration Options

This section describes how to customize your Canopy server's deployment by specifying options in a configuration file.

Specify configuration

First create a config.yml file in your /etc/canopy/ directory:

sudo mkdir -p /etc/canopy
cd /etc/canopy
sudo touch config.yml

Edit config.yml to add key-value pairs corresponding to options you want to customize your deployment with:

Option	Key	Values
Database Logging	db	redis, none

• Database Logging: log messages passed between Canopy clients and the Canopy Comm server to the specified database

Example config.yml to enable database logging to Redis:

db: redis

Redeploy

Rebuild and rerun the Canopy server stack:

cd <canopy_server_startup directory>
docker-compose build
docker-compose up

Clock Synchronization

This section describes how to synchronize the clocks of your Canopy server and your Canopy clients using the chrony NTP clock synchronization package.

Server-side setup

A base chrony configuration file is provided in this repository. On your Canopy server, copy the configuration file to /etc/chrony:

sudo mkdir -p /etc/chrony
cd <canopy_server_startup directory>
sudo cp chrony.conf /etc/chrony

The provided configuration file synchronizes the Canopy servers to 3 global NTP servers. If you want to modify this configuration, you can edit chrony.conf accordingly (see https://chrony.tuxfamily.org/doc/3.3/chrony.conf.html for details).

Client-side setup

Follow instructions to setup chrony on your Canopy clients.

Redeploy

Rebuild and rerun the Canopy server stack:

cd <canopy_server_startup directory>
docker-compose build
docker-compose up

To check whether chrony is working properly, look for messages similar to the following in your Docker logs:

fc21f432c421_docker_chrony_1 | 2018-05-06T18:07:03Z chronyd version 3.1 starting (+CMDMON +NTP +REFCLOCK +RTC +PRIVDROP +SCFILTER +SECHASH +SIGND +ASYNCDNS +IPV6 +DEBUG)
fc21f432c421_docker_chrony_1 | 2018-05-06T18:07:03Z Frequency 24.044 +/- 1000000.000 ppm read from /var/lib/chrony/chrony.drift
fc21f432c421_docker_chrony_1 | 2018-05-06T18:07:08Z Selected source 162.210.110.4