general clean up and ssh serving

clusterStartup.sh

@@ -20,7 +20,7 @@ chown $(id -u):$(id -g) $HOME/.kube/config
 
 kubectl apply -f flannel.yml
 kubectl taint nodes --all node-role.kubernetes.io/master-
-kubectl label nodes $HOSTNAME name=master
+kubectl label nodes $HOSTNAME name=base
 
 # print join command again to clipboard
 # kubeadm token create --print-join-command > ./tmpJoinCommand.txt

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 iputils-ping 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
 
 RUN pip3 install git+https://github.com/catkin/catkin_tools.git
 
@@ -23,13 +23,10 @@ RUN catkin config \
       --extend /opt/ros/$ROS_DISTRO && \
     catkin build --cmake-args -DCMAKE_CXX_FLAGS="-std=c++17"
 
-# might need something different in the bash script
-# 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) webssh
-RUN chmod 755 /usr/local/bin/ros_entrypoint.sh && \
-  /usr/local/bin/ros_entrypoint.sh
+RUN chmod 755 /usr/local/bin/ros_entrypoint.sh
 
 # make ssh-ing easier
 RUN echo "source /opt/ros/noetic/setup.bash" >> /home/webssh/.bashrc
@@ -37,12 +34,9 @@ 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
+              # 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 chmod 600 /home/webssh/.ssh/authorized_keys
 RUN service ssh start
 EXPOSE 22
 
@@ -50,9 +44,5 @@ ENTRYPOINT ["/usr/local/bin/ros_entrypoint.sh"]
 CMD ["/usr/sbin/sshd","-D"]
 CMD ["bash"]
 
-
-
-# CMD ["service ssh start"]
-
 # run ros package launch file
 # CMD ["roslaunch", "roscpp_tutorials", "talker_listener.launch"]

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

@@ -5,10 +5,9 @@ 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
+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 ros-noetic-tf
 
-
 RUN pip3 install git+https://github.com/catkin/catkin_tools.git
 
 # set up udev and usb stuff
@@ -35,14 +34,13 @@ RUN cmake .. \
 
 # clone eigen into correct location and rename
 WORKDIR /usr/local/include/
-RUN git clone https://gitlab.com/libeigen/eigen.git && mv eigen/ Eigen3/
+RUN git clone https://github.com/libigl/eigen.git && mv eigen/ Eigen3/ && cp -r ./Eigen3/Eigen/ ./Eigen/
 
 # clone ros package repo
-RUN echo "test"
 ENV ROS_WS /opt/ros_ws
 RUN mkdir -p $ROS_WS/src
 WORKDIR $ROS_WS
-RUN git -C src clone https://git.caslab.ece.vt.edu/hlarkin3/drone-ros-packages/ -b replicants
+RUN git -C src clone http://git.caslab.ece.vt.edu/hlarkin3/drone-ros-packages.git -b replicants
 
 # install ros package dependencies
 RUN apt-get update && \
@@ -60,10 +58,26 @@ RUN catkin config \
 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 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 "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
+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
+EXPOSE 22
+
 ENTRYPOINT ["/usr/local/bin/ros_entrypoint.sh"]
-# CMD [""]
+CMD ["/usr/sbin/sshd","-D"]
 CMD ["bash"]
 
 # run ros package launch file

kubernetes/base-deployment.yaml

@@ -28,7 +28,7 @@ spec:
         - containerPort: 11311
           name: baseport
       nodeSelector:
-        name: master
+        name: base
 
 ---
 

kubernetes/drone-deployment.yaml

@@ -30,7 +30,7 @@ spec:
             name: ttydji
         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/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"]
         ports:
         - containerPort: 11311
@@ -41,7 +41,7 @@ spec:
         - name: ROS_HOSTNAME
           value: service-drone
       nodeSelector:
-        name: plath
+        name: base
       volumes:
       - name: ttyacm
         hostPath: