Merge branch 'develop'

Author: nmatsui

CHANGELOG.md

@@ -4,14 +4,18 @@
 * We will employ the example of "wirecloud" running on RoboticBase-core
 * We will employ the example of "kurento" running on RoboticBase-core
 
+## [0.4.3]
+### Changed
+* updated "fiware-robot-visualization" to 0.3.0 in order to use "sth-comet" instead of accessing mongodb directly.
+
 ## [0.4.2]
 ### Changed
-* create the subdomains and routing rules of "kibana" and "grafana", and expose them to Internet.
-* update the `auth` component to be able to change the auth tokens dynamically.
+* updated the documents to use "kibana" and "grafana" through Internet (in the case of AKS).
+* updated the documents to add the authentication information used in "cmd-proxy" and "robot-visualization" to auth-secrets.
 
 ## [0.4.1]
 ### Changed
-* update components and documents to adjust [FIWARE Release 7.6](https://github.com/FIWARE/catalogue/releases/tag/FIWARE_7.6)
+* updated components and documents to adjust [FIWARE Release 7.6](https://github.com/FIWARE/catalogue/releases/tag/FIWARE_7.6)
     * Business Logic components
 
         |component|version|(previous version)|
@@ -33,8 +37,8 @@
 
 ## [0.4.0]
 ### Changed
-* split repository ([core](https://github.com/RoboticBase/core) and [example-turtlebot3](https://github.com/RoboticBase/example-turtlebot3))
-* update components and documents to adjust [FIWARE Release 7.5.1](https://github.com/Fiware/catalogue/releases)
+* splitted repository ([core](https://github.com/RoboticBase/core) and [example-turtlebot3](https://github.com/RoboticBase/example-turtlebot3))
+* updated components and documents to adjust [FIWARE Release 7.5.1](https://github.com/Fiware/catalogue/releases)
 
 * cmd-proxy
     * techsketch/fiware-cmd-proxy:0.1.1 -> roboticbase/fiware-cmd-proxy:0.2.0

README.md

@@ -1,20 +1,20 @@
 # RoboticBase example: Deploy robot programs on TurtleBot3
 
-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).
+This repository is example of "RoboticBase-core". The latest version (0.4.3) conforms to [FIWARE Release 7.6](https://github.com/FIWARE/catalogue/releases/tag/FIWARE_7.6).
 
 ## Description
 "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.
 
 "RoboticBase" allows robots to collaborate with IoT devices, Open Data, human beings and so on. You can connect a robot to "RoboticBase" using the open APIs of the robot, and operate the robot through those APIs. In turn, "RoboticBase" has an ability to manage ROS. If you connect a ROS robot to "RoboticBase", you can operate the robot directly without restrictions.  
 For example, you can deploy a ROS program to the robot and access the raw data of the robot through "RoboticBase".
 
-![roboticbase-core-architecture.png](/docs/images/roboticbase-core-architecture.png)
+![roboticbase-example-turtlebot3-architecture.png](/docs/images/roboticbase-example-turltebot3-architecture.png)
 
 |component|summary|version|
 |:--|:--|:--|
 |[kubernetes](https://kubernetes.io/)|Container Orchestration Platform|1.13 or higher|
 |[fiware-cmd-proxy](https://github.com/RoboticBase/fiware-cmd-proxy)|Business Logic component to handle the gamepad and robot|0.2.0|
-|[robot-visualization](https://github.com/RoboticBase/fiware-robot-visualization)|Business Logic component to visualize the locus of robot|0.2.1|
+|[robot-visualization](https://github.com/RoboticBase/fiware-robot-visualization)|Business Logic component to visualize the locus of robot|0.3.0|
 
 |gamepad|summary|version|
 |:--|:--|:--|
@@ -28,8 +28,8 @@ For example, you can deploy a ROS program to the robot and access the raw data o
 |:--|:--|:--|
 |[kubernetes](https://kubernetes.io/)|Container Orchestration Platform|1.14.1|
 |[deployer](https://github.com/RoboticBase/mqtt-kube-operator)|MQTT client to deploy (or delete) a resource to its own Kubernetes|0.2.0|
-|[bridge](https://github.com/RoboticBase/fiware_ros_bridge)|ROS package to act as a bridge FIWARE orion and ROS|0.2.2|
-|[operator](https://github.com/RoboticBase/fiware_ros_turtlebot3_operator)|ROS package to control turtlebot3 (simulator and physical robot)|0.2.1|
+|[bridge](https://github.com/RoboticBase/fiware_ros_bridge)|ROS package to act as a bridge FIWARE orion and ROS|0.3.0|
+|[operator](https://github.com/RoboticBase/fiware_ros_turtlebot3_operator)|ROS package to control turtlebot3 (simulator and physical robot)|0.3.0|
 
 ## An experiment to prove our concept
 We and University of Aizu have been performed an experiment to guide a visitor by collaborating with heterogeneous robots, IoT devices and people through this Robot Platform on Nov. 6th - 8th , 2018.
@@ -131,7 +131,7 @@ Please see this repository [ogcaizu/ogc-poc1](https://github.com/ogcaizu/ogc-poc
 * [RoboticBase/fiware-cmd-proxy](https://github.com/RoboticBase/fiware-cmd-proxy)
     * A web application working with [FIWARE orion context broker](https://github.com/telefonicaid/fiware-orion) in order to receive a command from gamepad or web controler and to send a command to ROS robot.
 * [RoboticBase/fiware-robot-visualization](https://github.com/RoboticBase/fiware-robot-visualization)
-    * A web application working with [FIWARE cygnus](https://github.com/telefonicaid/fiware-cygnus) in order to visualize the locus of ROS robot.
+    * A web application working with [FIWARE sth-comet](https://github.com/telefonicaid/fiware-sth-coomet) in order to visualize the locus of ROS robot.
 
 ## Related Repositories (Device & Robot)
 ### gamepad controller

controller/robot-visualization-deployment.yaml

@@ -14,7 +14,7 @@ spec:
     spec:
       containers:
       - name: fiware-robot-visualization
-        image: roboticbase/fiware-robot-visualization:0.2.1
+        image: roboticbase/fiware-robot-visualization:0.3.0
         imagePullPolicy: Always
         env:
         - name: LISTEN_PORT
@@ -25,16 +25,20 @@ spec:
           value: "DEBUG"
         - name: BEARER_AUTH
           value: "${BEARER_AUTH}"
-        - name: MONGODB_ENDPOINT
-          value: "mongodb-client:27017"
-        - name: MONGODB_REPLICASET
-          value: "rs0"
-        - name: MONGODB_DATABASE
-          value: "${MONGODB_DATABASE}"
-        - name: MONGODB_COLLECTION
-          value: "${MONGODB_COLLECTION}"
-        - name: CYGNUS_MONGO_ATTR_PERSISTENCE
-          value: "row"
+        - name: API_VERSION
+          value: "v2"
+        - name: FETCH_LIMIT
+          value: "128"
+        - name: COMET_ENDPOINT
+          value: "http://comet:8666"
+        - name: FIWARE_SERVICE
+          value: "${FIWARE_SERVICE}"
+        - name: FIWARE_SERVICEPATH
+          value: "${ROBOT_SERVICEPATH}"
+        - name: ENTITY_TYPE
+          value: "${ROBOT_TYPE}"
+        - name: ENTITY_ID
+          value: "${ROBOT_ID}"
         ports:
           - name: robot-vis
             containerPort: 8888

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

@@ -116,7 +116,7 @@
     "      \"bearer_tokens\": [\n",
     "        {\n",
     "          \"token\": \"nrWtb8sS0MmwlkhHXv0DC6orPMpFFbni\",\n",
-    "          \"allowed_paths\": [\"^/orion/.*$\", \"^/idas/.*$\"]\n",
+    "          \"allowed_paths\": [\"^/orion/.*$\", \"^/idas/.*$\", \"^/comet/.*$\"]\n",
     "        }\n",
     "      ],\n",
     "      \"basic_auths\": [],\n",
@@ -340,7 +340,7 @@
     "--------\n",
     "2019/05/21 01:51:07 hosts: [api\\..+$ kibana\\..+$ grafana\\..+$ web\\..+$]\n",
     "--------\n",
-    "2019/05/21 01:51:07 bearerTokenAllowedPaths: map[api\\..+$:map[XbZX1LpVv7DG9fu1X3WUq5kiqZyF34zI:[^/orion/.*$ ^/idas/.*$]] web\\..+$:map[Udgzdg6xMD5ymtQlInFHsM5UVD9OA2Wi:[^/visualizer/positions/$]]]\n",
+    "2019/05/21 01:51:07 bearerTokenAllowedPaths: map[api\\..+$:map[XbZX1LpVv7DG9fu1X3WUq5kiqZyF34zI:[^/orion/.*$ ^/idas/.*$ ^/comet/.*$]] web\\..+$:map[Udgzdg6xMD5ymtQlInFHsM5UVD9OA2Wi:[^/visualizer/positions/$]]]\n",
     "--------\n",
     "2019/05/21 01:51:07 basicAuthPaths, map[kibana\\..+$:map[^.*$:map[1IGQBVF5:zRa2mxZVdBOyO6Zd]] web\\..+$:map[/controller/web/:map[1JMF6D46:6u5M0bUhfjj7wMdM] /visualizer/locus/:map[1JMF6D46:6u5M0bUhfjj7wMdM]]]\n",
     "--------\n",
@@ -438,8 +438,6 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "export MONGODB_DATABASE=\"sth_${FIWARE_SERVICE}\"\n",
-    "export MONGODB_COLLECTION=\"sth_${ROBOT_SERVICEPATH}_${ROBOT_ID}_${ROBOT_TYPE}\"\n",
     "env BEARER_AUTH=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[]|select(.host == \"web\\\\..+$\")|.settings.bearer_tokens | map(select(.allowed_paths[] | contains(\"^/visualizer/positions/$\"))) | .[0].token' -r) envsubst < controller/robot-visualization-deployment.yaml | kubectl apply -f -"
    ]
   },
@@ -501,6 +499,29 @@
     "HTTPS_IPADDR=$(kubectl get services -l app=ambassador -o json | jq '.items[0].status.loadBalancer.ingress[0].ip' -r)\n",
     "az network dns record-set a add-record --resource-group ${DNS_ZONE_RG} --zone-name \"${DOMAIN}\" --record-set-name \"web\" --ipv4-address \"${HTTPS_IPADDR}\""
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "curl -i https://web.${DOMAIN}/controller/web/"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "example)\n",
+    "```\n",
+    "HTTP/1.1 401 Unauthorized\n",
+    "www-authenticate: Basic realm=\"basic authentication required\"\n",
+    "content-length: 0\n",
+    "date: Tue, 18 Jun 2019 05:01:31 GMT\n",
+    "server: envoy\n",
+    "```"
+   ]
   }
  ],
  "metadata": {