clean up!

docker/base/Dockerfile

@@ -2,7 +2,7 @@ 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
+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 sudo
 
 RUN pip3 install git+https://github.com/catkin/catkin_tools.git
 
@@ -22,8 +22,6 @@ RUN apt-get update && \
 RUN catkin config \
       --extend /opt/ros/$ROS_DISTRO && \
     catkin build --cmake-args -DCMAKE_CXX_FLAGS="-std=c++17"
-    # \
-    #   roscpp_tutorials
 
 # might need something different in the bash script
 # COPY bashCheckRoscore.sh /usr/local/bin/bashCheckRoscore.sh
@@ -37,9 +35,23 @@ RUN chmod 755 /usr/local/bin/ros_entrypoint.sh && \
 RUN echo "source /opt/ros/noetic/setup.bash" >> /home/webssh/.bashrc
 RUN echo "source /opt/ros_ws/devel/setup.bash" >> /home/webssh/.bashrc
 
+# 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 echo "Host remotehost\n\tStrictHostKeyChecking no\n" >> /home/webssh/.ssh/config
+
+
+RUN service ssh start
+EXPOSE 22
 
 ENTRYPOINT ["/usr/local/bin/ros_entrypoint.sh"]
+CMD ["/usr/sbin/sshd","-D"]
 CMD ["bash"]
+
+
+
 # CMD ["service ssh start"]
 
 # run ros package launch file

docker/base/selfkey.pub

+ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQC+1wxuQlF2SEKtg7g2KllzaBp7Fx3bbkrdNVeMtbthr63CLsqane27yCKV2xCbQbn5BTBbyhjPFI3yJL2ohYH3POMqBRl/QriJ9a8ATDC2TofMKIBJrtZXbLCg8exQvHwJbtVnKZk7IBmySDl8lVEtPbAyvbDt15bHcDVdc7hOQBV5u7nAAQAZTBwmf8bDywrri0bX2ZPuFgtFHKoVV2HrB7gY+xghlkXaYtf1I37T9dFEOHy7RUA2q6ykBlGQBr/2vOKuvKa+QkpWVz5R3EHkaK7Xqsxv20VAceIo9h+RMoW/e1T+RJmQKm5JpeBC1Io5KYzKoHzDb1wd48vPZtqtD9kVrC97pvLMhaUcPk3WPP1TWxr9j+drUMMOLnY6JjrLTOKB6bO/AIfFTXIFY9L6zDEibFJOnMOvLNgf8dsF72qQFpBE4rAeVUTwYjvj2QRtHMIiAYjh4ieE1qHiwERYKsjUNvsKAihvo+v+TbwLSwj97ZAsH3KEvjjmpFAnY3k= llh@pop-os

docker/drone/Dockerfile

@@ -5,9 +5,10 @@ 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
+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
 RUN apt-get update && apt-get install -y ros-noetic-tf
 
+
 RUN pip3 install git+https://github.com/catkin/catkin_tools.git
 
 # set up udev and usb stuff
@@ -37,6 +38,7 @@ WORKDIR /usr/local/include/
 RUN git clone https://gitlab.com/libeigen/eigen.git && mv eigen/ Eigen3/
 
 # clone ros package repo
+RUN echo "test"
 ENV ROS_WS /opt/ros_ws
 RUN mkdir -p $ROS_WS/src
 WORKDIR $ROS_WS

docker/master/Dockerfile

-ARG from=ros:noetic
-FROM ${from}
-# install build tools
-RUN apt-get update && apt-get install -y python3-pip git
-# work around as the apt-get version fails
-RUN pip3 install git+https://github.com/catkin/catkin_tools.git
-
-# clone ros package repo
-ENV ROS_WS /opt/ros_ws
-RUN mkdir -p $ROS_WS/src
-WORKDIR $ROS_WS
-RUN git -C src clone \
-      -b $ROS_DISTRO-devel \
-      https://github.com/ros/ros_tutorials.git
-
-# install ros package dependencies
-RUN apt-get update && rosdep update && rosdep install -y --from-paths src/ros_tutorials/roscpp_tutorials --ignore-src
-
-# build ros package source
-RUN catkin config \
-      --extend /opt/ros/$ROS_DISTRO && \
-    catkin build \
-      roscpp_tutorials
-
-COPY ros_entrypoint.sh /usr/local/bin/ros_entrypoint.sh
-RUN chmod 755 /usr/local/bin/ros_entrypoint.sh
-
-ENTRYPOINT ["/usr/local/bin/ros_entrypoint.sh"]
-CMD ["roscore"]
-
-
-# source ros package from entrypoint
-# RUN sed --in-place --expression \
-#       '$isource "$ROS_WS/devel/setup.bash"' \
-#       /ros_entrypoint.sh
-
-# run ros package launch file
-# CMD ["roslaunch", "roscpp_tutorials", "talker_listener.launch"]

docker/master/ros_entrypoint.sh

-#!/bin/bash
-set -e
-
-echo "==> Executing master image entrypoint ..."
-
-# setup ros environment
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-# might need to source the devel space as well
-source "$ROS_WS/devel/setup.bash"
-
-echo "==> Container ready"
-exec "$@"

docker/node/Dockerfile

-ARG from=ros:noetic
-FROM ${from}
-# install build tools
-# RUN apt-get update && apt-get install -y \
-#     python-catkin-tools \
-#     && rm -rf /var/lib/apt/lists/*
-RUN apt-get update && apt-get install -y python3-pip git
-RUN pip3 install git+https://github.com/catkin/catkin_tools.git
-
-# clone ros package repo
-ENV ROS_WS /opt/ros_ws
-RUN mkdir -p $ROS_WS/src
-WORKDIR $ROS_WS
-RUN git -C src clone \
-      -b $ROS_DISTRO-devel \
-      https://github.com/ros/ros_tutorials.git
-
-# install ros package dependencies
-RUN apt-get update && \
-    rosdep update && \
-    rosdep install -y \
-      --from-paths \
-        src/ros_tutorials/roscpp_tutorials \
-      --ignore-src && \
-    rm -rf /var/lib/apt/lists/*
-
-# build ros package source
-RUN catkin config \
-      --extend /opt/ros/$ROS_DISTRO && \
-    catkin build \
-      roscpp_tutorials
-
-COPY bashCheckRoscore.sh /usr/local/bin/bashCheckRoscore.sh
-COPY ros_entrypoint.sh /usr/local/bin/ros_entrypoint.sh
-
-RUN chmod 755 /usr/local/bin/bashCheckRoscore.sh && chmod 755 /usr/local/bin/ros_entrypoint.sh
-
-ENTRYPOINT ["/usr/local/bin/ros_entrypoint.sh"]
-# CMD [""]
-CMD ["bash"]
-
-# run ros package launch file
-# CMD ["roslaunch", "roscpp_tutorials", "talker_listener.launch"]

docker/node/bashCheckRoscore.sh

-#!/bin/bash
-# set -e
-# make sure to source ros work space so we can use the rostopic command
-FILE="./resp.txt"
-OUT="confirm"
-until [[ $OUT != "confirm" ]]
-do
-rostopic list &> $FILE
-echo $OUT
-OUT=$(awk '/ERR/ { print "confirm" }' $FILE)
-sleep 1
-done
-
-echo "found roscore!"
-rm $FILE
-# exit 1

docker/node/check_roscore.py

-#!/usr/bin/env python3
-
-import sys
-import rospy
-
-if rospy.is_shutdown():
-    print("Waiting roscore ...")
-    sys.exit(1)
-
-# if not rosgraph.is_master_online():
-#     print("Waiting roscore ...")
-#     sys.exit(1)
-
-print("roscore found!")

docker/node/ros_entrypoint.sh

-#!/bin/bash
-set -e
-
-echo "==> Executing node image entrypoint ..."
-# setup ros environment
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-# might need to source the devel space as well
-source "$ROS_WS/devel/setup.bash"
-
-echo "==> Container ready"
-exec "$@"

kubernetes/buildRosCluster.yml

-version: '2.4'
-
-services:
-    master:
-        image: llhcluster/master:v0
-        build:
-            context: ./master/
-            args:
-                from: ros:noetic
-    node:
-        image: llhcluster/node:v0
-        build:
-            context: ./node/
-            args:
-                from: ros:noetic

kubernetes/plathDeployment.yaml → kubernetes/drone-deployment.yaml

@@ -28,7 +28,7 @@ spec:
             name: ttyacm
           - mountPath: /dev/dji_usb
             name: ttydji
-        image: llh/dronearm:v0
+        image: llh/drone:v0
         command: ["/bin/bash"]
         args: ["-c", "source /opt/ros_ws/devel/setup.bash && /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"]

kubernetes/listener-deployment.yaml

-apiVersion: apps/v1
-kind: Deployment
-metadata:
-  name: listener-deployment
-  labels:
-    app: llhcluster
-    node: listener
-spec:
-  replicas: 1
-  # The deployment handles all matching templated pods
-  selector:
-    matchLabels:
-      node: listener
-  # Template for a replica.
-  # The deployment makes sure that a POD containing the containers
-  # defined below is always running.
-  template:
-    metadata:
-      labels:
-        node: listener
-    spec:
-      # Wait roscore to be running before starting the pod.
-      # An initContainer is executed when this pod is created
-      # and tries to connect to the rocore which is running in
-      # a container in the master pod deployment.
-      # https://kubernetes.io/docs/concepts/workloads/pods/init-containers/
-          # initContainers:
-          # - name: init-service-listener
-          #   image: llh/node:v0
-          #   args:
-          #   - bashCheckRoscore.sh
-          #   env:
-          #   - name: ROS_MASTER_URI
-          #     value: http://service-master:11311
-          #   - name: ROS_HOSTNAME
-          #     value: service-listener
-      containers:
-      # The real node container
-      - name: llhclusterpublisher
-        image: llh/node:v0
-        command: ["/bin/bash"]
-        args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/bashCheckRoscore.sh && rostopic echo /chatter"]
-        env:
-        - name: ROS_MASTER_URI
-          value: http://service-master:11311
-        - name: ROS_HOSTNAME
-          value: service-listener
-      nodeSelector:
-        name: plath
-        # When the roscore container stops or fails, all the node
-        # containers need to be restarted because the ros network
-        # configuration is lost.
-        # This liveness probe restarts the node container if the
-        # 'chatter' topic is not anymore listed in the ROS network.
-        # This is required because the node doesn't fail automatically
-        # when roscore stops / restarts.
-        # https://kubernetes.io/docs/tasks/configure-pod-container/configure-liveness-readiness-probes/
-                        # livenessProbe:
-                        #   exec:
-                        #     command: ["/bin/bash -c 'ros_entrypoint.sh && rostopic info /chatter'"]
-                        #     # args: ["-c", "ros_entrypoint.sh && rostopic info /chatter"]
-                        #   initialDelaySeconds: 3
-                        #   periodSeconds: 3
-
----
-
-apiVersion: v1
-kind: Service
-metadata:
-  name: service-listener
-  labels:
-    app: llhcluster
-    node: listener
-spec:
-  # Start a headless service
-  # https://kubernetes.io/docs/concepts/services-networking/service/#headless-services
-  clusterIP: None
-  ports:
-    # Dummy port
-    - port: 11311
-  selector:
-    node: listener

kubernetes/master-deployment.yaml

-apiVersion: apps/v1
-kind: Deployment
-metadata:
-  name: roscore-deployment
-  labels:
-    app: llhcluster
-    node: roscore
-spec:
-  replicas: 1
-  # The deployment handles all matching templated pods
-  selector:
-    matchLabels:
-      node: roscore
-  # Template for a replica.
-  # The deployment makes sure that a POD containing the containers
-  # defined below is always running.
-  template:
-    metadata:
-      labels:
-        node: roscore
-    spec:
-      containers:
-      - name: roscore
-        image: llh/master:v0
-        args:
-        - roscore
-        ports:
-        - containerPort: 11311
-          name: roscoreport
-      nodeSelector:
-        name: master
-
----
-
-apiVersion: v1
-kind: Service
-metadata:
-  name: service-master
-  labels:
-    app: llhcluster
-    node: roscore
-spec:
-  clusterIP: None
-  ports:
-    - port: 11311
-  selector:
-    node: roscore

kubernetes/talker-deployment.yaml

-apiVersion: apps/v1
-kind: Deployment
-metadata:
-  name: talker-deployment
-  labels:
-    app: llhcluster
-    node: talker
-spec:
-  replicas: 1
-  # The deployment handles all matching templated pods
-  selector:
-    matchLabels:
-      node: talker
-  # Template for a replica.
-  # The deployment makes sure that a POD containing the containers
-  # defined below is always running.
-  template:
-    metadata:
-      labels:
-        node: talker
-    spec:
-      # Wait roscore to be running before starting the pod.
-      # An initContainer is executed when this pod is created
-      # and tries to connect to the rocore which is running in
-      # a container in the master pod deployment.
-      # https://kubernetes.io/docs/concepts/workloads/pods/init-containers/
-          # initContainers:
-          # - name: init-service-talker
-          #   image: llh/node:v0
-          #   args:
-          #   - bashCheckRoscore.sh
-          #   env:
-          #   - name: ROS_MASTER_URI
-          #     value: http://service-master:11311
-          #   - name: ROS_HOSTNAME
-          #     value: service-talker
-      containers:
-      # The real node container
-      - name: llhclusterpublisher
-        image: llh/node:v0
-        command: ["/bin/bash"]
-        args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/bashCheckRoscore.sh && rostopic pub -r 1 chatter std_msgs/String 'hello worl'"]
-        env:
-        - name: ROS_MASTER_URI
-          value: http://service-master:11311
-        - name: ROS_HOSTNAME
-          value: service-talker
-      nodeSelector:
-        name: plath
-        # When the roscore container stops or fails, all the node
-        # containers need to be restarted because the ros network
-        # configuration is lost.
-        # This liveness probe restarts the node container if the
-        # 'chatter' topic is not anymore listed in the ROS network.
-        # This is required because the node doesn't fail automatically
-        # when roscore stops / restarts.
-        # https://kubernetes.io/docs/tasks/configure-pod-container/configure-liveness-readiness-probes/
-                            # livenessProbe:
-                            #   exec:
-                            #     command: ["/bin/bash -c 'ros_entrypoint.sh && rostopic info /chatter'"]
-                            #     # command:
-                            #     # - ros_entrypoint.sh
-                            #     # - /opt/ros/melodic/bin/rostopic
-                            #     # - info
-                            #     # - chatter
-                            #   initialDelaySeconds: 3
-                            #   periodSeconds: 3
-
----
-
-apiVersion: v1
-kind: Service
-metadata:
-  name: service-talker
-  labels:
-    app: llhcluster
-    node: talker
-spec:
-  # Start a headless service
-  # https://kubernetes.io/docs/concepts/services-networking/service/#headless-services
-  clusterIP: None
-  ports:
-    # Dummy port
-    - port: 11311
-  selector:
-    node: talker