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Turtlebot3 試験環境 インストールマニュアル #2

構築環境(2019年7月18日現在)

Azure Kubernetes Service(AKS)のfiwareにデバイスを登録

環境変数の設定

  1. 環境変数の設定

    $ export CORE_ROOT=$HOME/core
$ export PJ_ROOT=$HOME/example-turtlebot3
$ cd $PJ_ROOT;pwd

    • 実行結果（例）

      /home/fiware/example-turtlebot3

  2. 環境ファイルの実行

    $ source $CORE_ROOT/docs/environments/azure_aks/env
$ source $PJ_ROOT/docs/environments/azure_aks/env

コマンドのエイリアスを設定

  1. エイリアスの設定

    $ alias now="python -c 'import datetime; print(datetime.datetime.now().strftime(\"%Y-%m-%dT%H:%M:%S.%f+09:00\"))'"

RabbitMQのユーザ設定

  1. RabbitMQのユーザ登録

    $ for e in $(env); do
  if [[ "${e}" =~ ^MQTT__([[:alnum:]_-]+)=([[:alnum:]_-]+)$ ]]; then
    username=${BASH_REMATCH[1]}
    password=${BASH_REMATCH[2]}
    
    kubectl exec rabbitmq-0 -- rabbitmqctl add_user ${username} ${password}
    kubectl exec rabbitmq-0 -- rabbitmqctl set_permissions -p / ${username} ".*" ".*" ".*"
  fi
done

    • 実行結果（例）

      Adding user "iotagent" ...
User "iotagent" already exists
command terminated with exit code 70
Setting permissions for user "iotagent" in vhost "/" ...
Adding user "ros" ...
Setting permissions for user "ros" in vhost "/" ...
Adding user "raspberrypi" ...
Setting permissions for user "raspberrypi" in vhost "/" ...

  2. RabbitMQのユーザ確認

    $ kubectl exec rabbitmq-0 -- rabbitmqctl list_users

    • 実行結果（例）

      Listing users ...
user    tags
ros     []
raspberrypi     []
guest   [administrator]
iotagent        []

gamepad serviceの設定

  1. gamepad serviceの登録

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" -H "Content-Type: application/json" https://api.${DOMAIN}/idas/ul20/manage/iot/services/ -X POST -d @- <<__EOS__
{
  "services": [
    {
      "apikey": "${GAMEPAD_TYPE}",
      "cbroker": "http://orion:1026",
      "resource": "/iot/d",
      "entity_type": "${GAMEPAD_TYPE}"
    }
  ]
}
__EOS__

    • 実行結果（例）

      {}

  2. gamepad serviceの登録確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-Servicepath: ${GAMEPAD_SERVICEPATH}" https://api.${DOMAIN}/idas/ul20/manage/iot/services/ | jq .

    • 実行結果（例）

      {
  "count": 1,
  "services": [
    {
      "commands": [],
      "lazy": [],
      "attributes": [],
      "_id": "5cc19f5303576c000f3d0b1a",
      "resource": "/iot/d",
      "apikey": "gamepad",
      "service": "fiwaredemo",
      "subservice": "/gamepad",
      "__v": 0,
      "static_attributes": [],
      "internal_attributes": [],
      "entity_type": "gamepad"
    }
  ]
}

gamepad deviceの設定

  1. gamepad deviceの登録

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" -H "Content-Type: application/json" https://api.${DOMAIN}/idas/ul20/manage/iot/devices/ -X POST -d @- <<__EOS__
{
  "devices": [
    {
      "device_id": "${GAMEPAD_ID}",
      "entity_name": "${GAMEPAD_ID}",
      "entity_type": "${GAMEPAD_TYPE}",
      "timezone": "Asia/Tokyo",
      "protocol": "UL20",
      "attributes": [
        {
          "name": "button",
          "type": "string"
        }
      ],
      "transport": "AMQP"
    }
  ]
}
__EOS__

    • 実行結果（例）

      {}

  2. idas側でgamepad deviceの登録確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-Servicepath: ${GAMEPAD_SERVICEPATH}" https://api.${DOMAIN}/idas/ul20/manage/iot/devices/${GAMEPAD_ID}/ | jq .

    • 実行結果（例）

      {
  "device_id": "gamepad",
  "service": "fiwaredemo",
  "service_path": "/gamepad",
  "entity_name": "gamepad",
  "entity_type": "gamepad",
  "transport": "AMQP",
  "attributes": [
    {
      "object_id": "button",
      "name": "button",
      "type": "string"
    }
  ],
  "lazy": [],
  "commands": [],
  "static_attributes": [],
  "protocol": "UL20"
}

  3. orion側でgamepad deviceの登録確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-Servicepath: ${GAMEPAD_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${GAMEPAD_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "gamepad",
  "type": "gamepad",
  "TimeInstant": {
    "type": "ISO8601",
    "value": " ",
    "metadata": {}
  },
  "button": {
    "type": "string",
    "value": " ",
    "metadata": {}
  }
}

cygnus-mongoをgamepad deviceの購読者として設定

  1. cygnus-mongoをgamepad deviceの購読者として登録

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -i -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" -H "Content-Type: application/json" https://api.${DOMAIN}/orion/v2/subscriptions/ -X POST -d @- <<__EOS__
{
  "subject": {
    "entities": [{
      "idPattern": "${GAMEPAD_ID}.*",
      "type": "${GAMEPAD_TYPE}"
    }],
    "condition": {
      "attrs": ["button"]
    }
  },
  "notification": {
    "http": {
      "url": "http://cygnus-mongo:5050/notify"
    },
    "attrs": ["button"],
    "attrsFormat": "legacy"
  }
}
__EOS__

    • 実行結果（例）

      HTTP/1.1 201 Created
content-length: 0
location: /v2/subscriptions/5c74f32bb570e1414fe2e4e9
fiware-correlator: 36042ab6-399d-11e9-8200-ceae8a55b16d
date: Tue, 26 Feb 2019 08:04:59 GMT
x-envoy-upstream-service-time: 158
server: envoy

  2. cygnus-mongoがgamepad deviceの購読者として設定されたことを確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/subscriptions/ | jq .

    • 実行結果（例）

      [
  {
    "id": "5cc1a019e94c6631c96628f2",
    "status": "active",
    "subject": {
      "entities": [
        {
          "idPattern": "gamepad.*",
          "type": "gamepad"
        }
      ],
      "condition": {
        "attrs": [
          "button"
        ]
      }
    },
    "notification": {
      "timesSent": 1,
      "lastNotification": "2019-04-25T11:55:05.00Z",
      "attrs": [
        "button"
      ],
      "attrsFormat": "legacy",
      "http": {
        "url": "http://cygnus-mongo:5050/notify"
      },
      "lastSuccess": "2019-04-25T11:55:05.00Z",
      "lastSuccessCode": 200
    }
  }
]

robot serviceの設定

  1. robot serviceの登録

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" -H "Content-Type: application/json" https://api.${DOMAIN}/idas/ul20/manage/iot/services/ -X POST -d @- <<__EOS__
{
  "services": [
    {
      "apikey": "${ROBOT_TYPE}",
      "cbroker": "http://orion:1026",
      "resource": "/iot/d",
      "entity_type": "${ROBOT_TYPE}"
    }
  ]
}
__EOS__

    • 実行結果（例）

      {}

  2. robot serviceの登録確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-Servicepath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/idas/ul20/manage/iot/services/ | jq .

    • 実行結果（例）

      {
  "count": 1,
  "services": [
    {
      "commands": [],
      "lazy": [],
      "attributes": [],
      "_id": "5cc1a0e0b3d72f000f4f4c8d",
      "resource": "/iot/d",
      "apikey": "robot",
      "service": "fiwaredemo",
      "subservice": "/robot",
      "__v": 0,
      "static_attributes": [],
      "internal_attributes": [],
      "entity_type": "robot"
    }
  ]
}

robot deviceの設定

  1. robot deviceの登録

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" -H "Content-Type: application/json" https://api.${DOMAIN}/idas/ul20/manage/iot/devices/ -X POST -d @- <<__EOS__
{
  "devices": [
    {
      "device_id": "${ROBOT_ID}",
      "entity_name": "${ROBOT_ID}",
      "entity_type": "${ROBOT_TYPE}",
      "timezone": "Asia/Tokyo",
      "protocol": "UL20",
      "attributes": [
        {
          "name": "x",
          "type": "float32"
        },
        {
          "name": "y",
          "type": "float32"
        },
        {
          "name": "z",
          "type": "float32"
        },
        {
          "name": "theta",
          "type": "float32"
        },
        {
          "name": "voltage",
          "type": "float32"
        },
        {
          "name": "current",
          "type": "float32"
        },
        {
          "name": "charge",
          "type": "float32"
        },
        {
          "name": "capacity",
          "type": "float32"
        },
        {
          "name": "design_capacity",
          "type": "float32"
        },
        {
          "name": "percentage",
          "type": "float32"
        }
      ],
      "commands": [
        {
          "name": "move",
          "type": "string"
        }
      ],
      "transport": "AMQP"
    }
  ]
}
__EOS__

    • 実行結果（例）

      {}

  2. idas側のrobot deviceの登録確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-Servicepath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/idas/ul20/manage/iot/devices/${ROBOT_ID}/ | jq .

    • 実行結果（例）

      {
  "device_id": "turtlebot3",
  "service": "fiwaredemo",
  "service_path": "/robot",
  "entity_name": "turtlebot3",
  "entity_type": "robot",
  "transport": "AMQP",
  "attributes": [
    {
      "object_id": "x",
      "name": "x",
      "type": "float32"
    },
    {
      "object_id": "y",
      "name": "y",
      "type": "float32"
    },
    {
      "object_id": "z",
      "name": "z",
      "type": "float32"
    },
    {
      "object_id": "theta",
      "name": "theta",
      "type": "float32"
    },
    {
      "object_id": "voltage",
      "name": "voltage",
      "type": "float32"
    },
    {
      "object_id": "current",
      "name": "current",
      "type": "float32"
    },
    {
      "object_id": "charge",
      "name": "charge",
      "type": "float32"
    },
    {
      "object_id": "capacity",
      "name": "capacity",
      "type": "float32"
    },
    {
      "object_id": "design_capacity",
      "name": "design_capacity",
      "type": "float32"
    },
    {
      "object_id": "percentage",
      "name": "percentage",
      "type": "float32"
    }
  ],
  "lazy": [],
  "commands": [
    {
      "object_id": "move",
      "name": "move",
      "type": "string"
    }
  ],
  "static_attributes": [],
  "protocol": "UL20"
}

  3. orion側のrobot deviceの登録確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-Servicepath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${ROBOT_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "turtlebot3",
  "type": "robot",
  "TimeInstant": {
    "type": "ISO8601",
    "value": " ",
    "metadata": {}
  },
  "capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "charge": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "current": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "design_capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "move_info": {
    "type": "commandResult",
    "value": " ",
    "metadata": {}
  },
  "move_status": {
    "type": "commandStatus",
    "value": "UNKNOWN",
    "metadata": {}
  },
  "percentage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "theta": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "voltage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "x": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "y": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "z": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "move": {
    "type": "string",
    "value": "",
    "metadata": {}
  }
}

cygnus-mongoをrobot deviceの購読者として設定 (robot position)

  1. cygnus-mongoをrobot deviceの購読者として設定 (robot position)

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -i -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" -H "Content-Type: application/json" https://api.${DOMAIN}/orion/v2/subscriptions/ -X POST -d @- <<__EOS__
{
  "subject": {
    "entities": [{
      "idPattern": "${ROBOT_ID}.*",
      "type": "${ROBOT_TYPE}"
    }],
    "condition": {
      "attrs": ["x", "y", "z", "theta", "move_status", "move_info"]
    }
  },
  "notification": {
    "http": {
      "url": "http://cygnus-mongo:5050/notify"
    },
    "attrs": ["x", "y", "z", "theta", "move_status", "move_info"],
    "attrsFormat": "legacy"
  }
}
__EOS__

    • 実行結果（例）

      HTTP/1.1 201 Created
content-length: 0
location: /v2/subscriptions/5c74f609a9302c623b9a3b45
fiware-correlator: ebba1586-399e-11e9-866d-42e322af3492
date: Tue, 26 Feb 2019 08:17:13 GMT
x-envoy-upstream-service-time: 3
server: envoy

  2. cygnus-mongoがrobot deviceの購読者として設定されたことを確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/subscriptions/ | jq .

    • 実行結果（例）

      [
  {
    "id": "5cc1a2aae94c6631c96628f4",
    "status": "active",
    "subject": {
      "entities": [
        {
          "idPattern": "turtlebot3.*",
          "type": "robot"
        }
      ],
      "condition": {
        "attrs": [
          "x",
          "y",
          "z",
          "theta",
          "move_status",
          "move_info"
        ]
      }
    },
    "notification": {
      "timesSent": 1,
      "lastNotification": "2019-04-25T12:06:02.00Z",
      "attrs": [
        "x",
        "y",
        "z",
        "theta",
        "move_status",
        "move_info"
      ],
      "attrsFormat": "legacy",
      "http": {
        "url": "http://cygnus-mongo:5050/notify"
      },
      "lastSuccess": "2019-04-25T12:06:02.00Z",
      "lastSuccessCode": 200
    }
  }
]

gamepadのボタンテスト

  1. 全てのTopicをsubscribeするコマンドを作成

    $ echo "mosquitto_sub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /#"

    • 実行結果（例）

      mosquitto_sub -h mqtt.example.com -p 8883 --cafile /home/fiware/core/secrets/DST_Root_CA_X3.pem -d -u iotagent -P password_of_iotagent -t /#

  2. 別ターミナルで上記のコマンドを実行

    • 実行結果（例）

      Client mosq/e2bUj8YgCn16fupuXH sending CONNECT
Client mosq/e2bUj8YgCn16fupuXH received CONNACK (0)
Client mosq/e2bUj8YgCn16fupuXH sending SUBSCRIBE (Mid: 1, Topic: /#, QoS: 0, Options: 0x00)
Client mosq/e2bUj8YgCn16fupuXH received SUBACK
Subscribed (mid: 1): 0

  3. gamepadをエミュレーションするコマンドを実行

    $ mosquitto_pub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /${GAMEPAD_TYPE}/${GAMEPAD_ID}/attrs -m "$(now)|button|circle"

    • 実行結果（例）

      Client mosqpub|21891-FIWARE-PC sending CONNECT
Client mosqpub|21891-FIWARE-PC received CONNACK (0)
Client mosqpub|21891-FIWARE-PC sending PUBLISH (d0, q0, r0, m1, '/gamepad/gamepad/attrs', ... (49 bytes))
Client mosqpub|21891-FIWARE-PC sending DISCONNECT

  4. 別ターミナルで下記が表示されていることを確認

    • 実行結果（例）

      Client mosqsub|24799-FIWARE-PC received PUBLISH (d0, q0, r0, m0, '/gamepad/gamepad/attrs', .     .. (49 bytes))
2019-04-25T21:07:07.1556194027+0900|button|circle

  5. gamepad entityの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${GAMEPAD_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "gamepad",
  "type": "gamepad",
  "TimeInstant": {
    "type": "ISO8601",
    "value": "2019-04-25T21:07:07.1556194027+0900",
    "metadata": {}
  },
  "button": {
    "type": "string",
    "value": "circle",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:07:07.1556194027+0900"
      }
    }
  }
}

  6. cygnus-mongoの確認

    $ c=$(echo sth_${GAMEPAD_SERVICEPATH}xffff${GAMEPAD_ID}xffff${GAMEPAD_TYPE} | perl -pe 's/\//x002f/g; s/\$/x0024/g; s/=/xffff/g;')
$ kubectl exec mongodb-0 -c mongodb-replicaset -- mongo sth_${FIWARE_SERVICE} --eval "db.getCollection(\"${c}\").find().sort({recvTime: -1})"

    • 実行結果（例）

      MongoDB shell version v4.1.13
connecting to: mongodb://127.0.0.1:27017/sth_fiwaredemo?compressors=disabled&gssapiServiceName=mongodb
Implicit session: session { "id" : UUID("f60c9e28-4b21-4162-b0ec-da5e5e93e1b8") }
MongoDB server version: 4.1.13
{ "_id" : ObjectId("5cc1a391650bcb0011bff77e"), "recvTime" : ISODate("2019-04-25T12:07:07.155Z"), "attrName" : "button", "attrType" : "string", "attrValue" : "circle" }

  7. sth-cometの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}"  -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${GAMEPAD_SERVICEPATH}" https://api.${DOMAIN}/comet/STH/v1/contextEntities/type/${GAMEPAD_TYPE}/id/${GAMEPAD_ID}/attributes/button?lastN=100 | jq .

    • 実行結果（例）

      {
  "contextResponses": [
    {
      "contextElement": {
        "attributes": [
          {
            "name": "button",
            "values": [
              {
                "recvTime": "2019-02-14T09:18:35.155Z",
                "attrType": "string",
                "attrValue": "circle"
              }
            ]
          }
        ],
        "id": "gamepad",
        "isPattern": false,
        "type": "gamepad"
      },
      "statusCode": {
        "code": "200",
        "reasonPhrase": "OK"
      }
    }
  ]
}

robotのx、y、z、thetaテスト

  1. 全てのTopicをsubscribeするコマンドを作成

    $ echo "mosquitto_sub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /#"

    • 実行結果（例）

      mosquitto_sub -h mqtt.example.com -p 8883 --cafile /home/fiware/core/secrets/DST_Root_CA_X3.pem -d -u iotagent -P password_of_iotagent -t /#

  2. 別ターミナルで上記のコマンドを実行

    • 実行結果（例）

      Client mosq/e2bUj8YgCn16fupuXH sending CONNECT
Client mosq/e2bUj8YgCn16fupuXH received CONNACK (0)
Client mosq/e2bUj8YgCn16fupuXH sending SUBSCRIBE (Mid: 1, Topic: /#, QoS: 0, Options: 0x00)
Client mosq/e2bUj8YgCn16fupuXH received SUBACK
Subscribed (mid: 1): 0

  3. robotをエミュレーションするコマンドを実行

    $ mosquitto_pub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /${ROBOT_TYPE}/${ROBOT_ID}/attrs -m "$(now)|x|0.1|y|0.2|z|0.3|theta|0.4"

    • 実行結果（例）

      Client mosqpub|837-FIWARE-PC sending CONNECT
Client mosqpub|837-FIWARE-PC received CONNACK (0)
Client mosqpub|837-FIWARE-PC sending PUBLISH (d0, q0, r0, m1, '/robot/turtlebot3/attrs', ... (63 bytes))
Client mosqpub|837-FIWARE-PC sending DISCONNECT

  4. 別ターミナルで下記が表示されていることを確認

    Client mosqsub|12080-FIWARE-PC received PUBLISH (d0, q0, r0, m0, '/robot/turtlebot3/attrs', ... (95 bytes))
2019-04-25T21:11:28.1556194288+0900|x|0.1|y|0.2|z|0.3|theta|0.4

  5. robot entityの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${ROBOT_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "turtlebot3",
  "type": "robot",
  "TimeInstant": {
    "type": "ISO8601",
    "value": "2019-04-25T21:11:28.1556194288+0900",
    "metadata": {}
  },
  "capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "charge": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "current": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "design_capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "move_info": {
    "type": "commandResult",
    "value": " ",
    "metadata": {}
  },
  "move_status": {
    "type": "commandStatus",
    "value": "UNKNOWN",
    "metadata": {}
  },
  "percentage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "theta": {
    "type": "float32",
    "value": "0.4",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "voltage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "x": {
    "type": "float32",
    "value": "0.1",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "y": {
    "type": "float32",
    "value": "0.2",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "z": {
    "type": "float32",
    "value": "0.3",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "move": {
    "type": "string",
    "value": "",
    "metadata": {}
  }
}

  6. cygnus-mongoの確認

    $ c=$(echo sth_${ROBOT_SERVICEPATH}xffff${ROBOT_ID}xffff${ROBOT_TYPE} | perl -pe 's/\//x002f/g; s/\$/x0024/g; s/=/xffff/g;')
$ kubectl exec mongodb-0 -c mongodb-replicaset -- mongo sth_${FIWARE_SERVICE} --eval "db.getCollection(\"${c}\").find().sort({recvTime: -1})"

    • 実行結果（例）

      MongoDB shell version v4.1.13
connecting to: mongodb://127.0.0.1:27017/sth_fiwaredemo?compressors=disabled&gssapiServiceName=mongodb
Implicit session: session { "id" : UUID("eb359444-1d3f-41be-a554-a6a22b8d48ec") }
MongoDB server version: 4.1.13
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb9"), "recvTime" : ISODate("2019-04-25T12:11:47.631Z"), "attrName" : "move_status", "attrType" : "commandStatus", "attrValue" : "UNKNOWN" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb5"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "x", "attrType" : "float32", "attrValue" : "0.1" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb6"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "y", "attrType" : "float32", "attrValue" : "0.2" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb7"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "z", "attrType" : "float32", "attrValue" : "0.3" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb8"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "theta", "attrType" : "float32", "attrValue" : "0.4" }
{ "_id" : ObjectId("5cc1a2ad0a25f60012cd9bb4"), "recvTime" : ISODate("2019-04-25T12:06:02.803Z"), "attrName" : "move_status", "attrType" : "commandStatus", "attrValue" : "UNKNOWN" }

  7. sth-cometの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ for a in "x" "y" "z" "theta"; do
  curl -sS -H "Authorization: bearer ${TOKEN}"  -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/comet/STH/v1/contextEntities/type/${ROBOT_TYPE}/id/${ROBOT_ID}/attributes/${a}?lastN=100 | jq .
done

    • 実行結果（例）

      {
  "contextResponses": [
    {
      "contextElement": {
        "attributes": [
          {
            "name": "x",
            "values": [
              {
                "recvTime": "2019-02-14T09:22:19.155Z",
                "attrType": "float32",
                "attrValue": "0.1"
              }
            ]
          }
        ],
        "id": "turtlebot3",
        "isPattern": false,
        "type": "robot"
      },
      "statusCode": {
        "code": "200",
        "reasonPhrase": "OK"
      }
    }
  ]
}
      {
  "contextResponses": [
    {
      "contextElement": {
        "attributes": [
          {
            "name": "y",
            "values": [
              {
                "recvTime": "2019-02-14T09:22:19.155Z",
                "attrType": "float32",
                "attrValue": "0.2"
              }
            ]
          }
        ],
        "id": "turtlebot3",
        "isPattern": false,
        "type": "robot"
      },
      "statusCode": {
        "code": "200",
        "reasonPhrase": "OK"
      }
    }
  ]
}
      {
  "contextResponses": [
    {
      "contextElement": {
        "attributes": [
          {
            "name": "z",
            "values": [
              {
                "recvTime": "2019-02-14T09:22:19.155Z",
                "attrType": "float32",
                "attrValue": "0.3"
              }
            ]
          }
        ],
        "id": "turtlebot3",
        "isPattern": false,
        "type": "robot"
      },
      "statusCode": {
        "code": "200",
        "reasonPhrase": "OK"
      }
    }
  ]
}
      {
  "contextResponses": [
    {
      "contextElement": {
        "attributes": [
          {
            "name": "theta",
            "values": [
              {
                "recvTime": "2019-02-14T09:22:19.155Z",
                "attrType": "float32",
                "attrValue": "0.4"
              }
            ]
          }
        ],
        "id": "turtlebot3",
        "isPattern": false,
        "type": "robot"
      },
      "statusCode": {
        "code": "200",
        "reasonPhrase": "OK"
      }
    }
  ]
}

robotのmoveテスト

  1. 全てのTopicをsubscribeするコマンドを作成

    $ echo "mosquitto_sub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /#"

    • 実行結果（例）

      mosquitto_sub -h mqtt.example.com -p 8883 --cafile /home/fiware/core/secrets/DST_Root_CA_X3.pem -d -u iotagent -P password_of_iotagent -t /#

  2. 別ターミナルで上記のコマンドを実行

    • 実行結果（例）

      Client mosq/e2bUj8YgCn16fupuXH sending CONNECT
Client mosq/e2bUj8YgCn16fupuXH received CONNACK (0)
Client mosq/e2bUj8YgCn16fupuXH sending SUBSCRIBE (Mid: 1, Topic: /#, QoS: 0, Options: 0x00)
Client mosq/e2bUj8YgCn16fupuXH received SUBACK
Subscribed (mid: 1): 0

  3. robotへ命令するコマンドを実行

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -i -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-Servicepath: ${ROBOT_SERVICEPATH}" -H "Content-Type: application/json" https://api.${DOMAIN}/orion/v2/entities/${ROBOT_ID}/attrs?type=${ROBOT_TYPE} -X PATCH -d @-<<__EOS__
{
  "move": {
    "value": "square"
  }
}
__EOS__

    • 実行結果（例）

      HTTP/1.1 204 No Content
content-length: 0
fiware-correlator: 400d6d90-39a4-11e9-aead-42e322af3492
date: Tue, 26 Feb 2019 08:55:21 GMT
x-envoy-upstream-service-time: 27
server: envoy

  4. 別ターミナルで下記が表示されていることを確認

    Client mosqsub|1291-FIWARE-PC received PUBLISH (d0, q0, r0, m0, '/robot/turtlebot3/cmd', ... (22 bytes))
turtlebot3@move|square

  5. robot entityの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${ROBOT_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "turtlebot3",
  "type": "robot",
  "TimeInstant": {
    "type": "ISO8601",
    "value": "2019-04-25T12:14:46.00Z",
    "metadata": {}
  },
  "capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "charge": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "current": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "design_capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "move_info": {
    "type": "commandResult",
    "value": " ",
    "metadata": {}
  },
  "move_status": {
    "type": "commandStatus",
    "value": "PENDING",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T12:14:46.714Z"
      }
    }
  },
  "percentage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "theta": {
    "type": "float32",
    "value": "0.4",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "voltage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "x": {
    "type": "float32",
    "value": "0.1",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "y": {
    "type": "float32",
    "value": "0.2",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "z": {
    "type": "float32",
    "value": "0.3",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "move": {
    "type": "string",
    "value": "",
    "metadata": {}
  }
}

  6. コマンド実行結果の送信処理をエミュレート

    $ mosquitto_pub -h mqtt.${DOMAIN} -p 8883 --cafile ${CORE_ROOT}/secrets/DST_Root_CA_X3.pem -d -u iotagent -P ${MQTT__iotagent} -t /${ROBOT_TYPE}/${ROBOT_ID}/cmdexe -m "${ROBOT_ID}@move|executed square command"

    • 実行結果（例）

      Client mosqpub|1688-FIWARE-PC sending CONNECT
Client mosqpub|1688-FIWARE-PC received CONNACK (0)
Client mosqpub|1688-FIWARE-PC sending PUBLISH (d0, q0, r0, m1, '/robot/turtlebot3/cmdexe', ... (39 bytes))
Client mosqpub|1688-FIWARE-PC sending DISCONNECT

  7. 別ターミナルで下記が表示されていることを確認

    Client mosqsub|1642-FIWARE-PC received PUBLISH (d0, q0, r0, m0, '/robot/turtlebot3/cmdexe', ... (39 bytes))
turtlebot3@move|executed square command

  8. robot entityの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ curl -sS -H "Authorization: bearer ${TOKEN}" -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/orion/v2/entities/${ROBOT_ID}/ | jq .

    • 実行結果（例）

      {
  "id": "turtlebot3",
  "type": "robot",
  "TimeInstant": {
    "type": "ISO8601",
    "value": "2019-04-25T12:16:05.00Z",
    "metadata": {}
  },
  "capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "charge": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "current": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "design_capacity": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "move_info": {
    "type": "commandResult",
    "value": "executed square command",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T12:16:05.676Z"
      }
    }
  },
  "move_status": {
    "type": "commandStatus",
    "value": "OK",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T12:16:05.676Z"
      }
    }
  },
  "percentage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "theta": {
    "type": "float32",
    "value": "0.4",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "voltage": {
    "type": "float32",
    "value": " ",
    "metadata": {}
  },
  "x": {
    "type": "float32",
    "value": "0.1",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "y": {
    "type": "float32",
    "value": "0.2",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "z": {
    "type": "float32",
    "value": "0.3",
    "metadata": {
      "TimeInstant": {
        "type": "ISO8601",
        "value": "2019-04-25T21:11:28.1556194288+0900"
      }
    }
  },
  "move": {
    "type": "string",
    "value": "",
    "metadata": {}
  }
}

  9. cygnus-mongoの確認

    $ c=$(echo sth_${ROBOT_SERVICEPATH}xffff${ROBOT_ID}xffff${ROBOT_TYPE} | perl -pe 's/\//x002f/g; s/\$/x0024/g; s/=/xffff/g;')
$ kubectl exec mongodb-0 -c mongodb-replicaset -- mongo sth_${FIWARE_SERVICE} --eval "db.getCollection(\"${c}\").find().sort({recvTime: -1})"

    • 実行結果（例）

      MongoDB shell version v4.1.13
connecting to: mongodb://127.0.0.1:27017/sth_fiwaredemo?compressors=disabled&gssapiServiceName=mongodb
Implicit session: session { "id" : UUID("eb359444-1d3f-41be-a554-a6a22b8d48ec") }
MongoDB server version: 4.1.13
{ "_id" : ObjectId("5cc1a5050a25f60012cd9bc3"), "recvTime" : ISODate("2019-04-25T12:16:05.676Z"), "attrName" : "move_status", "attrType" : "commandStatus", "attrValue" : "OK" }
{ "_id" : ObjectId("5cc1a5050a25f60012cd9bc4"), "recvTime" : ISODate("2019-04-25T12:16:05.676Z"), "attrName" : "move_info", "attrType" : "commandResult", "attrValue" : "executed square command" }
{ "_id" : ObjectId("5cc1a4b70a25f60012cd9bbe"), "recvTime" : ISODate("2019-04-25T12:14:46.714Z"), "attrName" : "move_status", "attrType" : "commandStatus", "attrValue" : "PENDING" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb9"), "recvTime" : ISODate("2019-04-25T12:11:47.631Z"), "attrName" : "move_status", "attrType" : "commandStatus", "attrValue" : "UNKNOWN" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb5"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "x", "attrType" : "float32", "attrValue" : "0.1" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb6"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "y", "attrType" : "float32", "attrValue" : "0.2" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb7"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "z", "attrType" : "float32", "attrValue" : "0.3" }
{ "_id" : ObjectId("5cc1a4030a25f60012cd9bb8"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "theta", "attrType" : "float32", "attrValue" : "0.4" }
{ "_id" : ObjectId("5cc1a4b70a25f60012cd9bba"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "x", "attrType" : "float32", "attrValue" : "0.1" }
{ "_id" : ObjectId("5cc1a4b70a25f60012cd9bbb"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "y", "attrType" : "float32", "attrValue" : "0.2" }
{ "_id" : ObjectId("5cc1a4b70a25f60012cd9bbc"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "z", "attrType" : "float32", "attrValue" : "0.3" }
{ "_id" : ObjectId("5cc1a4b70a25f60012cd9bbd"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "theta", "attrType" : "float32", "attrValue" : "0.4" }
{ "_id" : ObjectId("5cc1a5050a25f60012cd9bbf"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "x", "attrType" : "float32", "attrValue" : "0.1" }
{ "_id" : ObjectId("5cc1a5050a25f60012cd9bc0"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "y", "attrType" : "float32", "attrValue" : "0.2" }
{ "_id" : ObjectId("5cc1a5050a25f60012cd9bc1"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "z", "attrType" : "float32", "attrValue" : "0.3" }
{ "_id" : ObjectId("5cc1a5050a25f60012cd9bc2"), "recvTime" : ISODate("2019-04-25T12:11:28.155Z"), "attrName" : "theta", "attrType" : "float32", "attrValue" : "0.4" }
{ "_id" : ObjectId("5cc1a2ad0a25f60012cd9bb4"), "recvTime" : ISODate("2019-04-25T12:06:02.803Z"), "attrName" : "move_status", "attrType" : "commandStatus", "attrValue" : "UNKNOWN" }

  10. sth-cometの確認

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ for a in "move_status" "move_info"; do
  curl -sS -H "Authorization: bearer ${TOKEN}"  -H "Fiware-Service: ${FIWARE_SERVICE}" -H "Fiware-ServicePath: ${ROBOT_SERVICEPATH}" https://api.${DOMAIN}/comet/STH/v1/contextEntities/type/${ROBOT_TYPE}/id/${ROBOT_ID}/attributes/${a}?lastN=100 | jq .
done

    • 実行結果（例）

      {
  "contextResponses": [
    {
      "contextElement": {
        "attributes": [
          {
            "name": "move_status",
            "values": [
              {
                "recvTime": "2019-02-14T09:22:33.167Z",
                "attrType": "commandStatus",
                "attrValue": "UNKNOWN"
              },
              {
                "recvTime": "2019-02-15T22:29:47.910Z",
                "attrType": "commandStatus",
                "attrValue": "UNKNOWN"
              },
              {
                "recvTime": "2019-02-15T22:30:29.911Z",
                "attrType": "commandStatus",
                "attrValue": "PENDING"
              },
              {
                "recvTime": "2019-02-15T22:30:52.006Z",
                "attrType": "commandStatus",
                "attrValue": "OK"
              }
            ]
          }
        ],
        "id": "turtlebot3",
        "isPattern": false,
        "type": "robot"
      },
      "statusCode": {
        "code": "200",
        "reasonPhrase": "OK"
      }
    }
  ]
}
      {
  "contextResponses": [
    {
      "contextElement": {
        "attributes": [
          {
            "name": "move_info",
            "values": [
              {
                "recvTime": "2019-02-15T22:30:52.006Z",
                "attrType": "commandResult",
                "attrValue": "executed square command"
              }
            ]
          }
        ],
        "id": "turtlebot3",
        "isPattern": false,
        "type": "robot"
      },
      "statusCode": {
        "code": "200",
        "reasonPhrase": "OK"
      }
    }
  ]
}