image pipeline updates

docker/base/Dockerfile

@@ -2,9 +2,11 @@ ARG from=ros:noetic
 FROM ${from}
 
 RUN apt-get update && apt-get install -y python3-pip git ca-certificates
-RUN apt-get update && apt-get install -y libsdl2-dev libusb-1.0-0-dev build-essential cmake && apt-get install -y openssh-server iputils-ping net-tools sudo
+RUN apt-get update && apt-get install -y libsdl2-dev libusb-1.0-0-dev build-essential cmake && apt-get install -y openssh-server iputils-ping net-tools sudo nano ros-noetic-cv-bridge
+RUN echo "el freshen up"
 
 RUN pip3 install git+https://github.com/catkin/catkin_tools.git
+RUN pip install opencv-python
 
 # clone ros package repo
 ENV ROS_WS /opt/ros_ws
@@ -12,6 +14,10 @@ RUN mkdir -p $ROS_WS/src
 WORKDIR $ROS_WS
 RUN git -C src clone https://git.caslab.ece.vt.edu/hlarkin3/base-station-ros/
 
+WORKDIR $ROS_WS/src/base-station-ros
+RUN git submodule init && git submodule update
+WORKDIR $ROS_WS
+
 # install ros package dependencies
 RUN apt-get update && \
     rosdep update && \
@@ -25,18 +31,23 @@ RUN catkin config \
 
 COPY ros_entrypoint.sh /usr/local/bin/ros_entrypoint.sh
 
-RUN useradd -m -s /bin/bash -p $(openssl passwd -1 password) webssh
+RUN useradd -m -s /bin/bash -p $(openssl passwd -1 password) ssher
+RUN usermod -aG sudo ssher
+
 RUN chmod 755 /usr/local/bin/ros_entrypoint.sh
 
 # make ssh-ing easier
-RUN echo "source /opt/ros/noetic/setup.bash" >> /home/webssh/.bashrc
-RUN echo "source /opt/ros_ws/devel/setup.bash" >> /home/webssh/.bashrc
+RUN echo "source /opt/ros/noetic/setup.bash" >> /home/ssher/.bashrc
+RUN echo "source /opt/ros_ws/devel/setup.bash" >> /home/ssher/.bashrc
+RUN echo "ssh-keyscan -H service-master >> /home/ssher/.ssh/known_hosts" >> /home/ssher/.bashrc
+RUN echo "ssh-keyscan -H service-drone >> /home/ssher/.ssh/known_hosts" >> /home/ssher/.bashrc
+# just doing this with hosts file now
 
 # put rsa key in image
-RUN mkdir -p /home/webssh/.ssh
-              # COPY selfkey.pub /home/webssh/.ssh/authorized_keys
-RUN chown -R webssh:webssh /home/webssh/.ssh
-              # RUN chmod 600 /home/webssh/.ssh/authorized_keys
+RUN mkdir -p /home/ssher/.ssh
+              # COPY selfkey.pub /home/ssher/.ssh/authorized_keys
+RUN chown -R ssher:ssher /home/ssher/.ssh
+              # RUN chmod 600 /home/ssher/.ssh/authorized_keys
 RUN service ssh start
 EXPOSE 22
 

docker/base/ros_entrypoint.sh

@@ -7,6 +7,10 @@ source "/opt/ros/$ROS_DISTRO/setup.bash"
 # might need to source the devel space as well
 source "$ROS_WS/devel/setup.bash"
 
+
+# put some stuff in the hosts file
+# echo "service-master.default.svc.cluster.local base-0" >> /etc/hosts
+
 service ssh start
 echo "==> Container ready"
 exec "$@"

docker/drone/Dockerfile

@@ -5,10 +5,13 @@ FROM ${from}
 #     python-catkin-tools \
 #     && rm -rf /var/lib/apt/lists/*
 RUN apt-get update && apt-get install -y python3-pip git ca-certificates
-RUN apt-get update && apt-get install -y libsdl2-dev libusb-1.0-0-dev build-essential cmake ffmpeg python3-opencv libavcodec-dev libavdevice-dev libavfilter-dev libavformat-dev libavresample-dev libavutil-dev libpostproc-dev libswresample-dev libswscale-dev iputils-ping net-tools openssh-server sudo
+RUN apt-get update && apt-get install -y libsdl2-dev libusb-1.0-0-dev build-essential cmake ffmpeg python3-opencv libavcodec-dev libavdevice-dev libavfilter-dev libavformat-dev libavresample-dev libavutil-dev libpostproc-dev libswresample-dev libswscale-dev iputils-ping net-tools openssh-server sudo nano ros-noetic-cv-bridge
 RUN apt-get update && apt-get install -y ros-noetic-tf
+# RUN echo "blah"
 
 RUN pip3 install git+https://github.com/catkin/catkin_tools.git
+RUN pip install opencv-python
+RUN pip install pyproj
 
 # set up udev and usb stuff
 WORKDIR /opt
@@ -42,6 +45,12 @@ RUN mkdir -p $ROS_WS/src
 WORKDIR $ROS_WS
 RUN git -C src clone http://git.caslab.ece.vt.edu/hlarkin3/drone-ros-packages.git -b replicants
 
+WORKDIR $ROS_WS/src/drone-ros-packages
+RUN git submodule init && git submodule update
+WORKDIR $ROS_WS
+
+ENV ROS_IP service-drone
+
 # install ros package dependencies
 RUN apt-get update && \
     rosdep update && \
@@ -59,21 +68,40 @@ COPY bashCheckRoscore.sh /usr/local/bin/bashCheckRoscore.sh
 COPY ros_entrypoint.sh /usr/local/bin/ros_entrypoint.sh
 
 RUN useradd -m -s /bin/bash -p $(openssl passwd -1 password) ssher
+RUN usermod -aG sudo ssher
 RUN chmod 755 /usr/local/bin/bashCheckRoscore.sh && chmod 755 /usr/local/bin/ros_entrypoint.sh
 
 # make ssh-ing easier
 RUN echo "source /opt/ros/noetic/setup.bash" >> /home/ssher/.bashrc
 RUN echo "source /opt/ros_ws/devel/setup.bash" >> /home/ssher/.bashrc
 # also need to put env variables in here
+RUN echo "ssh-keyscan -H service-master >> /home/ssher/.ssh/known_hosts" >> /home/ssher/.bashrc
+RUN echo "ssh-keyscan -H service-drone >> /home/ssher/.ssh/known_hosts" >> /home/ssher/.bashrc
+# these will be run with env loader but also nice to have from an ssh
 RUN echo "export ROS_MASTER_URI=http://service-master:11311" >> /home/ssher/.bashrc
 RUN echo "export ROS_HOSTNAME=service-drone" >> /home/ssher/.bashrc
 
-# put rsa key in image
+# put environment file in ros folder, to be referenced by base station machines.launch file
+RUN touch /opt/ros/noetic/kube_setup.sh \
+&& echo "#!/bin/bash" > /opt/ros/noetic/kube_setup.sh \
+&& echo "export ROS_WS=/opt/ros_ws" >> /opt/ros/noetic/kube_setup.sh \
+&& echo "source /opt/ros_ws/devel/setup.bash" >> /opt/ros/noetic/kube_setup.sh \
+&& echo "export PATH=/opt/ros/noetic/share/ros/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin" >> /opt/ros/noetic/kube_setup.sh \
+&& echo "export ROS_PACKAGE_PATH=/opt/ros_ws/src/drone-ros-packages/audio_common/audio_common:/opt/ros_ws/src/drone-ros-packages/audio_common/audio_common_msgs:/opt/ros_ws/src/drone-ros-packages/audio_common/audio_capture:/opt/ros_ws/src/drone-ros-packages/audio_common/audio_play:/opt/ros_ws/src/drone-ros-packages/Onboard-SDK-ROS:/opt/ros_ws/src/drone-ros-packages/position_sync:/opt/ros_ws/src/drone-ros-packages/puredata:/opt/ros_ws/src/drone-ros-packages/audio_common/sound_play:/opt/ros/noetic/share:/opt/ros_ws" >> /opt/ros/noetic/kube_setup.sh \
+&& echo "export ROS_MASTER_URI=http://service-master:11311" >> /opt/ros/noetic/kube_setup.sh \
+&& echo "export ROS_HOSTNAME=service-drone" >> /opt/ros/noetic/kube_setup.sh \
+&& echo 'exec "$@"' >> /opt/ros/noetic/kube_setup.sh
+
+# also need to own and execute said setup file
+RUN chown ssher /opt/ros/noetic/kube_setup.sh \
+&& chmod +x /opt/ros/noetic/kube_setup.sh
+
+# set up ssh stuff
 RUN mkdir -p /home/ssher/.ssh
                       # COPY selfkey.pub /home/ssher/.ssh/authorized_keys
 RUN chown -R ssher:ssher /home/ssher/.ssh
                       # RUN chmod 600 /home/ssher/.ssh/authorized_keys
-RUN sudo service ssh start
+RUN service ssh start
 EXPOSE 22
 
 ENTRYPOINT ["/usr/local/bin/ros_entrypoint.sh"]

docker/drone/bashCheckRoscore.sh

 #!/bin/bash
 # set -e
 # make sure to source ros work space so we can use the rostopic command
+
+# source stuff
+source /home/ssher/.bashrc
+
 FILE="./resp.txt"
 OUT="confirm"
 until [[ $OUT != "confirm" ]]

docker/drone/ros_entrypoint.sh

@@ -7,5 +7,12 @@ source "/opt/ros/$ROS_DISTRO/setup.bash"
 # might need to source the devel space as well
 source "$ROS_WS/devel/setup.bash"
 
+# put some stuff in the hosts file
+# echo "service-drone.default.svc.cluster.local drone-0" >> /etc/hosts
+# echo "service-master.default.svc.cluster.local base-0" >> /etc/hosts
+
+# add service-base to known hosts
+# ssh-keyscan -H service-drone
+
 echo "==> Container ready"
 exec "$@"

kubernetes/base-deployment.yaml

 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: base-deployment
+  name: base
   labels:
-    app: llhcluster
+    app: cluster
     node: base
 spec:
+  # serviceName: service-master # must match metadata-name on headless service below
+  # statefulset.kubernetes.io/pod-name: service-master
   replicas: 1
   # The deployment handles all matching templated pods
   selector:
     matchLabels:
       node: base
-  # Template for a replica.
-  # The deployment makes sure that a POD containing the containers
-  # defined below is always running.
+      app: cluster
   template:
     metadata:
       labels:
+        app: cluster # gotta match spec-template-metadata-labels
         node: base
     spec:
+      hostname: service-master
       containers:
       - name: base
         image: llh/basestation:v0
-        args:
-        - roscore
+        command: ["/bin/bash"]
+        args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/ros_entrypoint.sh && roscore"]
         ports:
         - containerPort: 11311
           name: baseport
+        # env:
+        # - name: ROS_IP
+        #   value: service-master
       nodeSelector:
         name: base
 
@@ -37,11 +42,18 @@ kind: Service
 metadata:
   name: service-master
   labels:
-    app: llhcluster
+    app: cluster
     node: base
 spec:
+  # type: LoadBalancer
+  # externalTrafficPolicy: Local
+  selector:
+    # statefulset.kubernetes.io/pod-name: service-master
+    node: base
   clusterIP: None
   ports:
     - port: 11311
+      name: base
   selector:
     node: base
+    app: cluster

kubernetes/drone-deployment.yaml

 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: drone-deployment
+  name: drone
   labels:
-    app: llhcluster
+    app: cluster
     node: drone
 spec:
+  # serviceName: "service-drone"
+  # statefulset.kubernetes.io/pod-name: service-drone
   replicas: 1
   # The deployment handles all matching templated pods
   selector:
     matchLabels:
       node: drone
-  # Template for a replica.
-  # The deployment makes sure that a POD containing the containers
-  # defined below is always running.
+      app: cluster
   template:
     metadata:
       labels:
+        app: cluster
         node: drone
     spec:
+      hostname: service-drone
       containers:
       - name: drone
         securityContext:
@@ -28,20 +30,26 @@ spec:
             name: ttyacm
           - mountPath: /dev/dji_usb
             name: ttydji
+          - mountPath: /dev/video0
+            name: devvideo0
+          - mountPath: /dev/video1
+            name: devvideo1
         image: llh/drone:v0
-        command: ["/bin/bash"]
-        args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/ros_entrypoint.sh && sudo service ssh restart && /usr/local/bin/bashCheckRoscore.sh && rostopic pub -r 1 armReady std_msgs/String 'ready'"]
-        # args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/bashCheckRoscore.sh"]
+        command: [ "/bin/bash"]       # You need to run some task inside a
+        args: ["-c", "source /opt/ros_ws/devel/setup.bash && sudo service ssh restart && /usr/local/bin/ros_entrypoint.sh && while true; do sleep 10; done;"] # Our simple program just sleeps inside
+        # args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/ros_entrypoint.sh"]
+        # command: ["/bin/bash"]
+        # not running && /usr/local/bin/bashCheckRoscore.sh AND  && sudo service ssh restart
         ports:
         - containerPort: 11311
           name: droneport
         env:
         - name: ROS_MASTER_URI
-          value: http://service-master:11311
+          value: service-master
         - name: ROS_HOSTNAME
           value: service-drone
       nodeSelector:
-        name: base
+        name: base # temp for testing purposes
       volumes:
       - name: ttyacm
         hostPath:
@@ -49,6 +57,12 @@ spec:
       - name: ttydji
         hostPath:
           path: /dev/dji_usb
+      - name: devvideo0
+        hostPath:
+          path: /dev/video0
+      - name: devvideo1
+        hostPath:
+          path: /dev/video1
 
 ---
 
@@ -57,14 +71,16 @@ kind: Service
 metadata:
   name: service-drone
   labels:
-    app: llhcluster
+    app: cluster
     node: drone
 spec:
-  # Start a headless service
-  # https://kubernetes.io/docs/concepts/services-networking/service/#headless-services
+  # type: LoadBalancer
+  # externalTrafficPolicy: Local
+  selector:
+    app: cluster
+    # statefulset.kubernetes.io/pod-name: service-drone
+    node: drone
   clusterIP: None
   ports:
-    # Dummy port
     - port: 11311
-  selector:
-    node: drone
+      name: drone