Spot User Control

Packages for manipulating with users and recording rosbag backup files for Spot.

Requirements

Installation with bash script

Download installation script:

wget https://raw.githubusercontent.com/merklebot/spot_user_control/main/install.sh

Change rights:

chmod +x install.sh

And run it with username and password from Spot:

sudo ./install.sh username password

Manual Installation

Installation

Clone repository to your ROS workspace:

cd ~/catkin_ws/src
git clone https://github.com/merklebot/spot_user_control.git

Install python packages:

pip3 install -r spot_user_control/lease_control/requirements.txt

Build the workspace:

cd ~/catkin_ws
catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
source devel/setup.bash

Run

Create run.sh script for running service (don't forget to change <spot_username> and <spot_password> with your username and password from Spot):

#!/usr/bin/env bash

python3 /home/spot/catkin_ws/src/spot_user_control/lease_control/scripts/wait4spot.py
sleep 2
source /opt/ros/melodic/setup.bash
cd /home/spot/catkin_ws
catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
source /home/spot/catkin_ws/devel/setup.bash
roslaunch lease_control control.launch username:=<spot_username> password:=<spot_password>

Then create systemd service file:

sudo nano /etc/systemd/system/user_control.service

With the following:

[Unit]
Description=Record rosbags and create/delete student users

[Service]
ExecStart=<path to your run.sh script>
User=spot
Restart=on-failure
RestartSec=60s

[Install]
WantedBy=multi-user.target

And run the service:

systemctl enable user_control.service
systemctl start user_control.service

Use

Everything in this section you should do as a root user.

Create .env file with the following:

export MNEMONIC=<mnemonic seed from robonomics account>
export SPOT_PASSWORD=
export SPOT_USERNAME=
export PINATA_PUBLIC=
export PINATA_PRIVATE=

Run create_user script in lease_control package to create new user with your ssh public key:

source /opt/ros/melodic/setup.bash && source /home/spot/catkin_ws/devel/setup.bash && source /root/.env
rosrun lease_control create_user create_user --session-id 33 --ssh-keys <ssh_key1> <ssh_key2> --lesson <lesson_number> --emails <email1> <email2>
[INFO] [1635319684.741609]: user_control ready
Create user: started
Enter new UNIX password: Retype new UNIX password: passwd: password updated successfully
[INFO] [1635319687.765813]: Created core user student
[INFO] [1635319691.882607]: Created spot user student
State: started

User and password to connect to Spot using SDK are in credentials file in the new user home directory.

To delete user run delete_user:

source /opt/ros/melodic/setup.bash && source /home/spot/catkin_ws/devel/setup.bash && source /root/.env
rosrun lease_control delete_user --session-id <session_id>
[INFO] [1635319701.881664]: user_control ready
Delete user: started
[INFO] [1635319701.889975]: Deleted core user student
[INFO] [1635319706.458831]: Deleted spot user student
State: ipfs
Send to IPFS: ipfs
[INFO] [1635319706.469890]: /home/spot/student/metadata compressed
[INFO] [1635319710.348172]: Published to IPFS with hash: QmWmD2jLa5eRhHTMkfTfJY2rrt6HFQ2XjvSoG29uV6ntLS
State: blockchain
Send datalog: blockchain
[INFO] [1635319711.008685]: DataLogger instantiated
[INFO] [1635319711.010844]: Sending to datalog: QmWmD2jLa5eRhHTMkfTfJY2rrt6HFQ2XjvSoG29uV6ntLS
[INFO] [1635319738.042535]: Datalog created with extrinsic hash: 0xba28a4d20d0812e30b1d8703a78933b5c9c071943370a7a05490c69602e3b114
DataLog Extrinsic Hash: 0xba28a4d20d0812e30b1d8703a78933b5c9c071943370a7a05490c69602e3b114
State: finished
IPFS hash: QmWmD2jLa5eRhHTMkfTfJY2rrt6HFQ2XjvSoG29uV6ntLS, extrinsic hash: 0xba28a4d20d0812e30b1d8703a78933b5c9c071943370a7a05490c69602e3b114

Run sending datalog

Export variables with your Spot username and password and mnemonic seed from your Robonomics account:

export SPOT_USERNAME=<spot_username>
export SPOT_PASSWORD=<spot_password>
export ROBONOMICS_MNEMONIC_SEED=<mnemonic seed>

And run the script logs2robonomics.py in bag_recorder/scripts:

python3 logs2robonomics.py

merklebot / spot_user_control