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‎CHANGELOG.md

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* We will employ the example of "wirecloud" running on RoboticBase-core
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* We will employ the example of "kurento" running on RoboticBase-core
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## [0.4.2]
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### Changed
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* create the subdomains and routing rules of "kibana" and "grafana", and expose them to Internet.
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* update the `auth` component to be able to change the auth tokens dynamically.
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## [0.4.1]
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### Changed
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* update components and documents to adjust [FIWARE Release 7.6](https://github.com/FIWARE/catalogue/releases/tag/FIWARE_7.6)

‎README.md

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# RoboticBase example: Deploy robot programs on TurtleBot3
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This repository is example of "RoboticBase-core". The latest version (0.4.1) conforms to [FIWARE Release 7.6](https://github.com/FIWARE/catalogue/releases/tag/FIWARE_7.6).
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This repository is example of "RoboticBase-core". The latest version (0.4.2) conforms to [FIWARE Release 7.6](https://github.com/FIWARE/catalogue/releases/tag/FIWARE_7.6).
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## Description
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"RoboticBase" is a robot management platform based on [FIWARE](http://www.fiware.org/) which enables you to manage and operate many kinds of robots and IoT devices as interactions of contexts.
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|:--|:--|:--|
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|[kubernetes](https://kubernetes.io/)|Container Orchestration Platform|1.14.1|
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|[deployer](https://github.com/RoboticBase/mqtt-kube-operator)|MQTT client to deploy (or delete) a resource to its own Kubernetes|0.2.0|
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|[bridge](https://github.com/RoboticBase/fiware_ros_turtlebot3_bridge)|ROS package to act as a bridge FIWARE orion and ROS|0.2.2|
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|[bridge](https://github.com/RoboticBase/fiware_ros_bridge)|ROS package to act as a bridge FIWARE orion and ROS|0.2.2|
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|[operator](https://github.com/RoboticBase/fiware_ros_turtlebot3_operator)|ROS package to control turtlebot3 (simulator and physical robot)|0.2.1|
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## An experiment to prove our concept
@@ -143,7 +143,7 @@ Please see this repository [ogcaizu/ogc-poc1](https://github.com/ogcaizu/ogc-poc
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* An android application for Xperia Hello! It connect to FIWARE using MQTT(S).
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### ROS package
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* [RoboticBase/fiware_ros_turtlebot3_bridge](https://github.com/RoboticBase/fiware_ros_turtlebot3_bridge)
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* [RoboticBase/fiware_ros_bridge](https://github.com/RoboticBase/fiware_ros_bridge)
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* A [ROS](http://wiki.ros.org/) pakage witten by python2 in order to act as a bridge between FIWARE and ROS nodes.
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* When a MQTT message is received from a MQTT topic, this package create ROS message and publish a ROS message to a ROS topic.
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* At the opposite, when a ROS message is received from a ROS topic, this package publish a MQTT message to a MQTT topic.

‎controller/cmd-proxy-service.yaml

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kind: Mapping
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name: controller-mapping
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prefix: /controller/
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host: "^api\\..+$"
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host: "^web\\..+$"
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host_regex: true
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service: http://cmd-proxy:8888
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spec:

‎controller/robot-visualization-service.yaml

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kind: Mapping
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name: visualizer-mapping
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prefix: /visualizer/
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host: "^api\\..+$"
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host: "^web\\..+$"
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host_regex: true
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service: http://robot-visualization:8888
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spec:

‎docs/en-jupyter_notebook/azure_aks/01_start_pods.ipynb

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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# 1 start pods on Azure AKS"
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"# 1 start business logic pods on Azure AKS"
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]
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},
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{
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"source ${PJ_ROOT}/docs/environments/azure_aks/env"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## add auth tokens for the web app of example-turtlebot3"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### create new `secrets/auth-tokens.json`"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"example)\n",
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"```json\n",
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"[\n",
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" {\n",
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" \"host\": \"api\\\\..+$\",\n",
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" \"settings\": {\n",
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" \"bearer_tokens\": [\n",
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" {\n",
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" \"token\": \"nrWtb8sS0MmwlkhHXv0DC6orPMpFFbni\",\n",
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" \"allowed_paths\": [\"^/orion/.*$\", \"^/idas/.*$\"]\n",
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" }\n",
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" ],\n",
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" \"basic_auths\": [],\n",
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" \"no_auths\": {}\n",
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" }\n",
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" },\n",
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" {\n",
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" \"host\": \"kibana\\\\..+$\",\n",
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" \"settings\": {\n",
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" \"bearer_tokens\": [],\n",
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" \"basic_auths\": [\n",
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" {\n",
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" \"username\": \"yW7FvSGD\",\n",
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" \"password\": \"6BoTFE5xfUlX3ssV\",\n",
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" \"allowed_paths\": [\"^.*$\"]\n",
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" }\n",
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" ],\n",
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" \"no_auths\": {\n",
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" \"allowed_paths\": []\n",
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" }\n",
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" }\n",
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" },\n",
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" {\n",
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" \"host\": \"grafana\\\\..+$\",\n",
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" \"settings\": {\n",
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" \"bearer_tokens\": [],\n",
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" \"basic_auths\": [],\n",
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" \"no_auths\": {\n",
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" \"allowed_paths\": [\"^.*$\"]\n",
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" }\n",
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" }\n",
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" },\n",
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" {\n",
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" \"host\": \"web\\\\..+$\",\n",
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" \"settings\": {\n",
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" \"bearer_tokens\": [\n",
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" {\n",
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" \"token\": \"Udgzdg6xMD5ymtQlInFHsM5UVD9OA2Wi\",\n",
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" \"allowed_paths\": [\n",
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" \"^/visualizer/positions/$\"\n",
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" ]\n",
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" }\n",
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" ],\n",
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" \"basic_auths\": [\n",
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" {\n",
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" \"username\": \"1JMF6D46\",\n",
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" \"password\": \"6u5M0bUhfjj7wMdM\",\n",
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" \"allowed_paths\": [\n",
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" \"/controller/web/\",\n",
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" \"/visualizer/locus/\"\n",
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" ]\n",
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" }\n",
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" ],\n",
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" \"no_auths\": {\n",
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" \"allowed_paths\": [\n",
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" \"^.*/static/.*$\"\n",
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" ]\n",
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" }\n",
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" }\n",
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" }\n",
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"]\n",
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"```"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"#### for macOS"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.|=.+[{\n",
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" \"host\": \"web\\\\..+$\",\n",
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" \"settings\": {\n",
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" \"bearer_tokens\": [\n",
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" {\n",
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" \"token\": \"'$(cat /dev/urandom | LC_CTYPE=C tr -dc 'a-zA-Z0-9' | head -c 32)'\",\n",
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" \"allowed_paths\": [\"^/visualizer/positions/$\"]\n",
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" }\n",
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" ],\n",
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" \"basic_auths\": [\n",
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" {\n",
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" \"username\": \"'$(cat /dev/urandom | LC_CTYPE=C tr -dc 'a-zA-Z0-9' | head -c 8)'\",\n",
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" \"password\": \"'$(cat /dev/urandom | LC_CTYPE=C tr -dc 'a-zA-Z0-9' | head -c 16)'\",\n",
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" \"allowed_paths\": [\"/controller/web/\", \"/visualizer/locus/\"]\n",
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" }\n",
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" ],\n",
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" \"no_auths\": {\n",
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" \"allowed_paths\": [\"^.*/static/.*$\"]\n",
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" }\n",
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" }\n",
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"}]' | tee /tmp/auth-tokens.json\n",
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"mv ${CORE_ROOT}/secrets/auth-tokens.json ${CORE_ROOT}/secrets/auth-tokens.json.back\n",
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"mv /tmp/auth-tokens.json ${CORE_ROOT}/secrets/auth-tokens.json"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"#### for Ubuntu"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.|=.+[{\n",
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" \"host\": \"web\\\\..+$\",\n",
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" \"settings\": {\n",
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" \"bearer_tokens\": [\n",
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" {\n",
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" \"token\": \"'$(cat /dev/urandom 2>/dev/null | head -n 40 | tr -cd 'a-zA-Z0-9' | head -c 32)'\",\n",
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" \"allowed_paths\": [\"^/visualizer/positions/$\"]\n",
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" }\n",
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" ],\n",
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" \"basic_auths\": [\n",
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" {\n",
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" \"username\": \"'$(cat /dev/urandom 2>/dev/null | head -n 40 | tr -cd 'a-zA-Z0-9' | head -c 8)'\",\n",
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" \"password\": \"'$(cat /dev/urandom 2>/dev/null | head -n 40 | tr -cd 'a-zA-Z0-9' | head -c 16)'\",\n",
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" \"allowed_paths\": [\"/controller/web/\", \"/visualizer/locus/\"]\n",
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" }\n",
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" ],\n",
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" \"no_auths\": {\n",
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" \"allowed_paths\": [\"^.*/static/.*$\"]\n",
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" }\n",
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" }\n",
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"}]' | tee /tmp/auth-tokens.json\n",
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"mv ${CORE_ROOT}/secrets/auth-tokens.json ${CORE_ROOT}/secrets/auth-tokens.json.back\n",
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"mv /tmp/auth-tokens.json ${CORE_ROOT}/secrets/auth-tokens.json"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## change the auth-tokens to kubernetes secrets"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### watch `auth` log"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"_Outside of this notebook_\n",
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"1. open a ternminal.\n",
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"1. run a command displayed below."
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"echo \"kubectl logs -f -lapp=auth --all-containers=true\""
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### delete and re-register auth-tokens to kubernetes secrets"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"kubectl delete secret auth-tokens"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"kubectl create secret generic auth-tokens --from-file=${CORE_ROOT}/secrets/auth-tokens.json"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### confirm the token will be reloaded"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"**wait a few minutes until the change of secret is detected by Kubernetes.** \n",
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"When the new secret is detected, the tokens of auth will be reloaded automatically."
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"log messages like below will be shown after tokens is reloaded.\n",
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"\n",
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"```\n",
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"...\n",
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"--------\n",
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"2019/05/21 01:51:07 hosts: [api\\..+$ kibana\\..+$ grafana\\..+$ web\\..+$]\n",
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"--------\n",
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"2019/05/21 01:51:07 bearerTokenAllowedPaths: map[api\\..+$:map[XbZX1LpVv7DG9fu1X3WUq5kiqZyF34zI:[^/orion/.*$ ^/idas/.*$]] web\\..+$:map[Udgzdg6xMD5ymtQlInFHsM5UVD9OA2Wi:[^/visualizer/positions/$]]]\n",
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"--------\n",
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"2019/05/21 01:51:07 basicAuthPaths, map[kibana\\..+$:map[^.*$:map[1IGQBVF5:zRa2mxZVdBOyO6Zd]] web\\..+$:map[/controller/web/:map[1JMF6D46:6u5M0bUhfjj7wMdM] /visualizer/locus/:map[1JMF6D46:6u5M0bUhfjj7wMdM]]]\n",
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"--------\n",
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"2019/05/21 01:51:07 noAuthPaths, map[grafana\\..+$:[^.*$] web\\..+$:[^.*/static/.*$] api\\..+$:[] kibana\\..+$:[]]\n",
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"--------\n",
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"```"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"export MONGODB_DATABASE=\"sth_${FIWARE_SERVICE}\"\n",
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"export MONGODB_COLLECTION=\"sth_${ROBOT_SERVICEPATH}_${ROBOT_ID}_${ROBOT_TYPE}\"\n",
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"env BEARER_AUTH=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens | map(select(.allowed_paths[] | contains (\"^/visualizer/positions/$\"))) | .[0].token' -r) envsubst < controller/robot-visualization-deployment.yaml | kubectl apply -f -"
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"env BEARER_AUTH=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[]|select(.host == \"web\\\\..+$\")|.settings.bearer_tokens | map(select(.allowed_paths[] | contains(\"^/visualizer/positions/$\"))) | .[0].token' -r) envsubst < controller/robot-visualization-deployment.yaml | kubectl apply -f -"
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]
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},
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{
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"robot-visualization ClusterIP 10.0.112.72 <none> 8888/TCP 13m\n",
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"```"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### register DNS A Record for business logic"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"HTTPS_IPADDR=$(kubectl get services -l app=ambassador -o json | jq '.items[0].status.loadBalancer.ingress[0].ip' -r)\n",
502+
"az network dns record-set a add-record --resource-group ${DNS_ZONE_RG} --zone-name \"${DOMAIN}\" --record-set-name \"web\" --ipv4-address \"${HTTPS_IPADDR}\""
503+
]
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}
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],
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"metadata": {

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