image pipeline readme updates

clusterStartup.sh

@@ -29,7 +29,7 @@ kubeadm token create --print-join-command | xclip -selection clipboard
 # save that file to clipboard
 # cat ./tmpJoinCommand.txt | xclip -selection clipboard
 # rm ./tmpJoinCommand.txt
-echo "set up done, join command copied (can ctrl-c now)"
+echo "set up done, join command copied"
 exit 0
 
 # dang pod cidr decided not to be assigned correctly, so follow links to assign it manually:

docker/base/Dockerfile

@@ -7,6 +7,8 @@ RUN apt-get update && apt-get install -y libsdl2-dev libusb-1.0-0-dev build-esse
 RUN pip3 install git+https://github.com/catkin/catkin_tools.git
 RUN pip install opencv-python
 
+RUN echo "freshenst"
+
 # clone ros package repo
 ENV ROS_WS /opt/ros_ws
 RUN mkdir -p $ROS_WS/src
@@ -32,6 +34,9 @@ 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
+# add ssher user to the video group to allow streaming
+RUN adduser ssher video
+RUN usermod -a -G video ssher
 
 RUN chmod 755 /usr/local/bin/ros_entrypoint.sh
 
@@ -44,9 +49,7 @@ RUN echo "ssh-keyscan -H service-drone >> /home/ssher/.ssh/known_hosts" >> /home
 
 # 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 service ssh start
 EXPOSE 22
 

docker/drone/Dockerfile

@@ -38,6 +38,8 @@ RUN cmake .. \
 WORKDIR /usr/local/include/
 RUN git clone https://github.com/libigl/eigen.git && mv eigen/ Eigen3/ && cp -r ./Eigen3/Eigen/ ./Eigen/
 
+RUN echo "refreshest"
+
 # clone ros package repo
 ENV ROS_WS /opt/ros_ws
 RUN mkdir -p $ROS_WS/src
@@ -68,6 +70,10 @@ 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
+# add ssher user to the video group to allow streaming
+RUN adduser ssher video
+RUN usermod -a -G video ssher
+
 RUN chmod 755 /usr/local/bin/bashCheckRoscore.sh && chmod 755 /usr/local/bin/ros_entrypoint.sh
 
 # make ssh-ing easier
@@ -100,9 +106,7 @@ RUN chown ssher /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 service ssh start
 EXPOSE 22
 

kubernetes/drone-deployment.yaml

@@ -22,14 +22,9 @@ spec:
       - name: image-storage
         persistentVolumeClaim:
           claimName: image-volume-claim
-      # - name: video-source
-      #   persistentVolumeClaim:
-      #     readOnly: true
-      #     claimName: video-volume-claim
       - name: video-source
         hostPath:
           path: /dev/video0
-
       - name: ttyacm
         hostPath:
           path: /dev/ttyACM0
@@ -49,11 +44,6 @@ spec:
           mountPath: /home/ssher/imageNFS
         - name: video-source
           mountPath: /dev/video99
-        # volumeDevices:
-        # - name: video-source
-        #   devicePath: /dev/videoSource
-        # - name: video-source
-        #   mountPath: /home/ssher/videoSource
         image: llh/drone:v0
         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
@@ -66,8 +56,8 @@ spec:
         - name: ROS_HOSTNAME
           value: service-drone
       nodeSelector:
-        kubernetes.io/hostname: pop-os
-        # kubernetes.io/hostname: neruda # temp for testing purposes
+        # kubernetes.io/hostname: pop-os # to run on control plane
+        kubernetes.io/hostname: neruda
 ---
 
 apiVersion: v1

kubernetes/videoPV.yaml

-apiVersion: v1
-kind: PersistentVolume
-metadata:
-  name: video-volume
-spec:
-  storageClassName: video
-  volumeMode: Block
-  capacity:
-    storage: 500Gi
-  local:
-    path: /dev/video0
-  accessModes:
-  - ReadOnlyMany
-  persistentVolumeReclaimPolicy: Retain
-  nodeAffinity:
-    required:
-      nodeSelectorTerms:
-      - matchExpressions:
-        - key: kubernetes.io/hostname
-          operator: In
-          values:
-          - pop-os

kubernetes/videoPVC.yaml

-apiVersion: v1
-kind: PersistentVolumeClaim
-metadata:
-  name: video-volume-claim
-spec:
-  storageClassName: video
-  accessModes:
-  - ReadOnlyMany
-  volumeName: video-volume
-  volumeMode: Block
-  resources:
-    requests:
-      storage: 500Gi

kubernetes/videoSC.yaml

-apiVersion: storage.k8s.io/v1
-kind: StorageClass
-metadata:
-  name: video
-provisioner: kubernetes.io/no-provisioner
-reclaimPolicy: Retain
-allowVolumeExpansion: true
-volumeBindingMode: WaitForFirstConsumer