clean up

.gitignore

+# Compiled source #
+###################
+*.com
+*.class
+*.dll
+*.exe
+*.o
+*.so
+
+# Packages #
+############
+# it's better to unpack these files and commit the raw source
+# git has its own built in compression methods
+*.7z
+*.dmg
+*.gz
+*.iso
+*.jar
+*.rar
+*.tar
+*.zip
+
+# Logs and databases #
+######################
+*.log
+*.sql
+*.sqlite
+
+# OS generated files #
+######################
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db

ClusterSetup.txt

@@ -91,3 +91,20 @@ nodeSelector:
 
 check which pods are running on which nodes:
 kubectl get pods --all-namespaces -o wide
+
+get join command from host computer:
+kubeadm token create --print-join-command
+
+sucessful ARM image build:
+docker buildx build --platform linux/arm64 -o type=oci,dest=droneARM.img -t llh/dronearm:v0 .
+
+
+-----------------------------------------------------------
+
+handy troubleshooting links:
+
+crashloop backoff evaluation steps: https://managedkube.com/kubernetes/pod/failure/crashloopbackoff/k8sbot/troubleshooting/2019/02/12/pod-failure-crashloopbackoff.html
+
+docker buildx, building for multiple architectures: https://collabnix.com/building-arm-based-docker-images-on-docker-desktop-made-possible-using-buildx/
+
+buildx platform error thingy: https://github.com/docker/buildx/issues/464

dockerComposeTesting/Dockerfile

-# syntax=docker/dockerfile:1
-FROM python:3.7-alpine
-WORKDIR /code
-ENV FLASK_APP=app.py
-ENV FLASK_RUN_HOST=0.0.0.0
-RUN apk add --no-cache gcc musl-dev linux-headers
-COPY requirements.txt requirements.txt
-RUN pip install -r requirements.txt
-EXPOSE 5000
-COPY . .
-CMD ["flask", "run"]

dockerComposeTesting/app.py

-import time
-
-import redis
-from flask import Flask
-
-app = Flask(__name__)
-cache = redis.Redis(host='redis', port=6379)
-
-def get_hit_count():
-	retries = 5
-	while True:
-		try:
-			return cache.incr('hits')
-		except redis.exceptions.ConnectionError as exc:
-			if retries == 0:
-				raise exc
-			retries -= 1
-			time.sleep(0.5)
-
-@app.route('/')
-def hello():
-	count = get_hit_count()
-	return 'Hello World! I have been seen {} times.\n'.format(count)

dockerComposeTesting/docker-compose.yml

-version: "3.3"
-services:
-  web:
-    build: .
-    ports:
-      - "5000:5000"
-  redis:
-    image: "redis:alpine"

dockerComposeTesting/requirements.txt

-flask
-redis

dockerComposeTesting/steps.txt

-To test a quick docker web app, with steps/code taken from https://docs.docker.com/compose/gettingstarted/
-
-- from project directory, start up docker daemon (not sure why this isn't a service):
-
-sudo dockerd
-
-- bring up container (again from project dir, separate terminal):
-
-sudo docker-compose up
-
-- check http://localhost:5000/ to see if page loads, refresh to see counter incrementing
-
-if dockerd comes back with an error the following command might be needed:
-ps axf | grep docker | grep -v grep | awk '{print "kill -9 " $1}' | sudo sh

dockerSaveTesting/Dockerfile

-FROM busybox
-CMD echo $((40 + 2))

dockerSaveTesting/calc/42ca20c5edcca8f3790773dd6111e6eb360f56a7a2fabcd4feba72a940b1eccb.json

-{"architecture":"amd64","config":{"Hostname":"","Domainname":"","User":"","AttachStdin":false,"AttachStdout":false,"AttachStderr":false,"Tty":false,"OpenStdin":false,"StdinOnce":false,"Env":["PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"],"Cmd":["/bin/sh","-c","echo $((40 + 2))"],"Image":"sha256:42b97d3c2ae95232263a04324aaf656dc80e7792dee6629a9eff276cdfb806c0","Volumes":null,"WorkingDir":"","Entrypoint":null,"OnBuild":null,"Labels":null},"container":"7844ba4fcb3e2573beee308f75094be8428cf1a99076340d971f9f0b2b61b9cc","container_config":{"Hostname":"7844ba4fcb3e","Domainname":"","User":"","AttachStdin":false,"AttachStdout":false,"AttachStderr":false,"Tty":false,"OpenStdin":false,"StdinOnce":false,"Env":["PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"],"Cmd":["/bin/sh","-c","#(nop) ","CMD [\"/bin/sh\" \"-c\" \"echo $((40 + 2))\"]"],"Image":"sha256:42b97d3c2ae95232263a04324aaf656dc80e7792dee6629a9eff276cdfb806c0","Volumes":null,"WorkingDir":"","Entrypoint":null,"OnBuild":null,"Labels":{}},"created":"2021-09-13T17:33:29.768365573Z","docker_version":"20.10.8","history":[{"created":"2021-08-20T21:20:01.375838656Z","created_by":"/bin/sh -c #(nop) ADD file:89552401a4d4fc6b2e7e019e9dff35d16de40ad30973d5ccdd78d3de33790155 in / "},{"created":"2021-08-20T21:20:01.541762445Z","created_by":"/bin/sh -c #(nop)  CMD [\"sh\"]","empty_layer":true},{"created":"2021-09-13T17:33:29.768365573Z","created_by":"/bin/sh -c #(nop)  CMD [\"/bin/sh\" \"-c\" \"echo $((40 + 2))\"]","empty_layer":true}],"os":"linux","rootfs":{"type":"layers","diff_ids":["sha256:0fd05bf2930d72edc1aa0b9fa7e442295c2384512a32c0b1502392f5384acd81"]}}
\ No newline at end of file

dockerSaveTesting/calc/e93c093b65bb10672e77027c11ee804f192a401d94cf1b8f53fcc84d6335f6d3/VERSION

-1.0
\ No newline at end of file

dockerSaveTesting/calc/e93c093b65bb10672e77027c11ee804f192a401d94cf1b8f53fcc84d6335f6d3/json

-{"id":"e93c093b65bb10672e77027c11ee804f192a401d94cf1b8f53fcc84d6335f6d3","created":"2021-09-13T17:33:29.768365573Z","container":"7844ba4fcb3e2573beee308f75094be8428cf1a99076340d971f9f0b2b61b9cc","container_config":{"Hostname":"7844ba4fcb3e","Domainname":"","User":"","AttachStdin":false,"AttachStdout":false,"AttachStderr":false,"Tty":false,"OpenStdin":false,"StdinOnce":false,"Env":["PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"],"Cmd":["/bin/sh","-c","#(nop) ","CMD [\"/bin/sh\" \"-c\" \"echo $((40 + 2))\"]"],"Image":"sha256:42b97d3c2ae95232263a04324aaf656dc80e7792dee6629a9eff276cdfb806c0","Volumes":null,"WorkingDir":"","Entrypoint":null,"OnBuild":null,"Labels":{}},"docker_version":"20.10.8","config":{"Hostname":"","Domainname":"","User":"","AttachStdin":false,"AttachStdout":false,"AttachStderr":false,"Tty":false,"OpenStdin":false,"StdinOnce":false,"Env":["PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"],"Cmd":["/bin/sh","-c","echo $((40 + 2))"],"Image":"sha256:42b97d3c2ae95232263a04324aaf656dc80e7792dee6629a9eff276cdfb806c0","Volumes":null,"WorkingDir":"","Entrypoint":null,"OnBuild":null,"Labels":null},"architecture":"amd64","os":"linux"}
\ No newline at end of file

dockerSaveTesting/calc/manifest.json

-[{"Config":"42ca20c5edcca8f3790773dd6111e6eb360f56a7a2fabcd4feba72a940b1eccb.json","RepoTags":["calc:latest"],"Layers":["e93c093b65bb10672e77027c11ee804f192a401d94cf1b8f53fcc84d6335f6d3/layer.tar"]}]

dockerSaveTesting/calc/repositories

-{"calc":{"latest":"e93c093b65bb10672e77027c11ee804f192a401d94cf1b8f53fcc84d6335f6d3"}}

llhApproach/kubernetes/plathDeployment.yaml → kubernetes/plathDeployment.yaml

@@ -21,9 +21,17 @@ spec:
     spec:
       containers:
       - name: drone
-        image: llh/drone:v0
+        securityContext:
+          privileged: true
+        volumeMounts:
+          - mountPath: /dev/ttyACM0
+            name: ttyacm
+          - mountPath: /dev/dji_usb
+            name: ttydji
+        image: llh/dronearm:v0
         command: ["/bin/bash"]
-        args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/bashCheckRoscore.sh && rostopic pub -r 1 plathReady std_msgs/String 'ready'"]
+        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"]
         ports:
         - containerPort: 11311
           name: droneport
@@ -34,6 +42,13 @@ spec:
           value: service-drone
       nodeSelector:
         name: plath
+      volumes:
+      - name: ttyacm
+        hostPath:
+          path: /dev/ttyACM0
+      - name: ttydji
+        hostPath:
+          path: /dev/dji_usb
 
 ---
 

llhApproach/kubernetes/talker-deployment.yaml → kubernetes/talker-deployment.yaml

@@ -46,7 +46,7 @@ spec:
         - name: ROS_HOSTNAME
           value: service-talker
       nodeSelector:
-        name: neruda
+        name: plath
         # When the roscore container stops or fails, all the node
         # containers need to be restarted because the ros network
         # configuration is lost.

podSpecs/listener_pod.yml

-apiVersion: v1
-kind: Pod
-metadata:
-  name: listener
-  labels:
-    name: listener
-spec:
-  containers: 
-   -  name: listener
-      image: ros:indigo-ros-core
-      env:
-        - name: ROS_HOSTNAME
-          value: listener
-        - name: ROS_MASTER_URI
-          value: http://master:11311
-      args:
-        - rostopic 
-        - echo 
-        - my_topic
-

podSpecs/listener_svc.yml

-apiVersion: v1
-kind: Service
-metadata: 
-  name: listener
-spec:
-  clusterIP: None
-  ports: 
-    - port: 11311
-      protocol: TCP
-  selector: 
-    name: listener
-  type: ClusterIP

podSpecs/master_pod.yml

-apiVersion: v1
-kind: Pod
-metadata:
-  name: master
-  labels:
-    name: master
-spec:
-  containers:
-   -  name: master
-      image: roscluster/master:v0
-      ports:
-        - containerPort: 11311
-          name: master
-      # args:
-      #     - roscore

podSpecs/master_svc.yml

-apiVersion: v1
-kind: Service
-metadata: 
-  name: master
-spec: 
-  clusterIP: None
-  ports: 
-    - port: 11311
-      protocol: TCP
-  selector: 
-    name: master
-  type: ClusterIP

podSpecs/talker_pod.yml

-apiVersion: v1
-kind: Pod
-metadata:
-  name: talker
-  labels:
-    name: talker
-spec:
-  containers: 
-   -  name: talker
-      image: ros:indigo-ros-core
-      env:
-        - name: ROS_HOSTNAME
-          value: talker
-        - name: ROS_MASTER_URI
-          value: http://master:11311
-      args:
-          - rostopic 
-          - pub 
-          - "-r"
-          - "1" 
-          - my_topic
-          - std_msgs/String
-          - "SPLab+ICClab"

podSpecs/talker_svc.yml

-apiVersion: v1
-kind: Service
-metadata: 
-  name: talker
-spec:
-  clusterIP: None
-  ports: 
-    - port: 11311
-      protocol: TCP
-  selector: 
-    name: talker
-  type: ClusterIP

pythonWebDeployment.yaml

----
-apiVersion: v1
-kind: Service
-metadata:
-  name: hello-python-service
-spec:
-  selector:
-    app: hello-python
-  ports:
-  - protocol: "TCP"
-    port: 6000
-    targetPort: 5000
-  type: LoadBalancer
-
----
-apiVersion: apps/v1
-kind: Deployment
-metadata:
-  name: hello-python
-spec:
-  selector:
-    matchLabels:
-      app: hello-python
-  replicas: 4
-  template:
-    metadata:
-      labels:
-        app: hello-python
-    spec:
-      containers:
-      - name: hello-python
-        image: hello-python:latest
-        imagePullPolicy: Never
-        ports:
-        - containerPort: 5000

ros-kubernetes-ex @ 316101e9

-Subproject commit 316101e906c06ce40993a4398a90ea2ba46b8000