RoboticBase-core

This repository is a core components of "RoboticBase". The latest version (0.5) conforms to FIWARE Release 7.8.1.

Description

"RoboticBase" is a robot management platform based on FIWARE 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".

FIWARE components	summary	version
FIWARE orion	Publish/Subscribe Context Broker	2.3.0
FIWARE cygnus	Data collection and Persistence Agent	1.17.1
FIWARE sth-comet	An Agent to manage historical raw and aggregated time series context	2.7.0
FIWARE iotagent-ul	Backend Device Management Agent	1.12.0
FIWARE iotagent-json	Backend Device Management Agent	1.13.0

Other components	summary	version
kubernetes	Container Orchestration Platform	1.14 or higher
ambassador	API Gateway	1.1.1
auth	Authorization and Authentication component working with ambassador	0.3.0
RabbitMQ	Distributed Message Queue	3.8.2
MongoDB	Document-oriented NoSQL Database	4.2.3
Prometheus	Monitoring and Alerting toolkit	2.16.0
Grafana	Analytics and Alerting platform for time series metrics	6.6.1
Elasticsearch	Distributed search and analytics engine	7.6.0
fluentd	Data collector for unified logging layer	2.9.0
Kibana	Visualize the Elasticsearch data	7.6.0

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.

PoC1 on Nov. 6th - 8th , 2018.

Please see this repository ogcaizu/ogc-poc1.

PoC2 on Nov. 26th - 29th , 2019.

Please see this repository RoboticBase/uoa-poc2.

Requirements

• kubernetes client PC
  • pyenv and pipenv is required to setup ansible and other libraries.
  • kubectl and helm is required to handle minikube and Azure AKS.
  • openssl is required to generate tls cert files.
  • azure cli is required when you use Azure AKS.
  • minikube and Oracle VM VirtualBox is required when you use minikube.

	version
OS	macOS Mojave 10.14.6 Ubuntu 16.04
pyenv	1.2.16
pipenv	2018.11.26
kubectl	1.17.3
helm	3.1.1

• for Azure AKS

	version
openssl	2.6.5
azure cli	2.1.0

• for minikube
  • when you use monitoring & logging, you have to give 4 cpu & 8192 MB memories or more to minikube.

	version
VirtualBox	6.1.2 r135662
minikube	1.7.3

Getting Started

Start RoboticBase/core on Azure AKS

1. Set the password of MQTT user in the following yaml file:

   • group_vars/all.yml

2. Change the domain name and email defined in the following yml file:

   • inventories/aks/group_vars/aks.yml

3. Change the SSH key path defined in the following yml file:

   • inventories/aks/host_vars/azure.yml

4. If necessary, update the values defined in the following yml files:

   • inventories/aks/group_vars/aks.yml

5. Generate Azure Credentials by executing following shell script:

   $ ./tools/generate_azure_credentials.sh
   

6. Start "pipenv shell"

   $ pipenv shell
   

7. Start RoboticBase/core on Azure AKS using ansible

   $ ansible-playbook -i inventories/aks --extra-vars="ansible_python_interpreter=$(which python)" aks.yml
   

Start RoboticBase/core on minikube

1. Set the password of MQTT user in the following yaml file:

   • group_vars/all.yml

2. If necessary, update the values defined in the following yml files:

   • inventories/minikube/group_vars/minikube.yml
   • inventories/minikube/host_vars/localhost.yml

3. Start "pipenv shell"

   $ pipenv shell
   

4. Start RoboticBase/core on minikube using ansible

   $ ansible-playbook -i inventories/minikube --extra-vars="ansible_python_interpreter=$(which python)" minikube.yml
   

Installation Guides

English

• for Azure AKS: docs/en/install_guide_aks.en.md
• for minikube: docs/en/install_guide_minikube.en.md

Japanese

• Azure AKS用: docs/ja/install_guide_aks.ja.md
• minikube用: docs/ja/install_guide_minikube.ja.md

Related Repositories

FIWARE components

• telefonicaid/fiware-orion
  • Orion is a FIWARE's reference implementation of the Publish/Subscribe Context Broker.
• telefonicaid/iotagent-ul
  • IotAgent-UL is a bridge that can be used to communicate devices using the Ultralight 2.0 protocol and Orion.
    • Ultralight 2.0 is a lightweight text based protocol aimed to constrained devices and communications where the bandwidth and device memory may be limited resources.
• telefonicaid/iotagent-json
  • IotAgent-JSON is a bridge that can be used to communicate devices using the JSON and Orion.
• telefonicaid/fiware-cygnus
  • Cygnus is a connector in charge of persisting certain sources of data in certain configured third-party storages, creating a historical view of such data.
• telefonicaid/fiware-sth-comet
  • A component of the FIWARE ecosystem in charge of managing historical and aggregated time series context information.

Support components

• RoboticBase/fiware-ambassador-auth
  • A REST API component working with Ambassador on Kubernetes in order to authorize and authanticate the client.
  • Bearar Authenticaton and Basic Authentication are supported.

License

Apache License 2.0

Copyright

Copyright (c) 2018-2020 TIS Inc.