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08_delete_containers_from_turtlebot3.md

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Turtlebot3 試験環境 インストールマニュアル #8

構築環境(2019年7月18日現在)

turtlebot3コンテナの削除

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/minikube/env
$ source $PJ_ROOT/docs/environments/minikube/env

コマンドのエイリアスを設定

  1. エイリアスの設定

    $ if [ "$(uname)" == 'Darwin' ]; then
  alias externalHostIp='ifconfig ${IFNAME} | awk '"'"'/inet / {print $2}'"'"
elif [ "$(expr substr $(uname -s) 1 5)" == 'Linux' ]; then
  alias externalHostIp='ifconfig ${IFNAME} | awk '"'"'/inet / {print $2}'"'"' | cut -d: -f2'
else
  echo "Your platform ($(uname -a)) is not supported."
  exit 1
fi

minikubeが動作しているPCのLAN向けIP addressの取得

  1. minikubeが動作しているPCがLANに接続しているInterfaceの名前を確認

    $ export LANG=C
$ ifconfig

  2. 確認したInterface名を環境変数 IFNAME に設定

    ※ Interface名が en0 だった場合

    $ export IFNAME="en0"

  3. minikubeのLAN向けipを設定

    $ export EXTERNAL_HOST_IPADDR=$(externalHostIp); echo ${EXTERNAL_HOST_IPADDR}

    • 実行結果（例）

      172.16.10.25

A.turtlebot3シミュレータの場合

  1. turtlebot3-fake-deployment-minikubeの削除

    $ export TURTLEBOT3_USER=turtlebot3
$ export TURTLEBOT3_UID=1000
$ envsubst < ${PJ_ROOT}/ros/turtlebot3-fake/yaml/turtlebot3-fake-deployment-minikube.yaml > /tmp/turtlebot3-fake-deployment-minikube.yaml
$ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -v /tmp:/tmp -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete /tmp/turtlebot3-fake-deployment-minikube.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}
$ rm /tmp/turtlebot3-fake-deployment-minikube.yaml

  2. turtlebot3-fake-serviceの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/turtlebot3-fake/yaml/turtlebot3-fake-service.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

A.(alterntive)turtlebot3シミュレータの場合

  1. turtlebot3シミュレータ環境の停止

    1. telepresence shellで、exit
    2. port forwadingを閉じる

B.turtlebot3ロボットの場合

  1. 環境設定

    $ export TURTLEBOT3_WORKSPACE=~/catkin_ws

  2. turtlebot3-bringup-deployment-minikubeの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/turtlebot3-bringup/yaml/turtlebot3-bringup-deployment-minikube.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

  3. turtlebot3-bringup-serviceの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/turtlebot3-bringup/yaml/turtlebot3-bringup-service.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

fiware-ros-turtlebot3-operatoの削除

  1. fiware-ros-turtlebot3-operator-deployment-minikube-wideの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-deployment-minikube-wide.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

  2. fiware-ros-turtlebot3-operator-serviceの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-service.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

  3. fiware-ros-turtlebot3-operator-configmapの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/fiware-ros-turtlebot3-operator/yaml/fiware-ros-turtlebot3-operator-configmap.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

fiware-ros-bridgeの削除

  1. fiware-ros-turtlebot3-bridge-deployment-minikubeの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/fiware-ros-bridge/yaml/fiware-ros-bridge-deployment-minikube.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

  2. fiware-ros-turtlebot3-bridge-serviceの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/fiware-ros-bridge/yaml/fiware-ros-bridge-service.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

  3. fiware-ros-turtlebot3-bridge-configmapの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/fiware-ros-bridge/yaml/fiware-ros-bridge-configmap.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

  4. iware-ros-turtlebot3-bridge-secretの削除

    $ export MQTT_YAML_BASE64=""
$ envsubst < ${PJ_ROOT}/ros/fiware-ros-bridge/yaml/fiware-ros-bridge-secret.yaml > /tmp/fiware-ros-bridge-secret.yaml
$ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -v /tmp:/tmp -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete /tmp/fiware-ros-bridge-secret.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}
$ rm /tmp/fiware-ros-bridge-secret.yaml

ros-masterの削除

  1. ros-master-deployment-minikubeの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/ros-master/yaml/ros-master-deployment-minikube.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

  2. ros-master-serviceの削除

    $ TOKEN=$(cat ${CORE_ROOT}/secrets/auth-tokens.json | jq '.[0].settings.bearer_tokens[0].token' -r)
$ docker run -it --rm -v ${PJ_ROOT}:${PJ_ROOT} -w ${PJ_ROOT} example_turtlebot3:0.0.1 \
  ${PJ_ROOT}/tools/deploy_yaml.py --delete ${PJ_ROOT}/ros/ros-master/yaml/ros-master-service.yaml http://${HOST_IPADDR}:8080 ${TOKEN} ${FIWARE_SERVICE} ${DEPLOYER_SERVICEPATH} ${DEPLOYER_TYPE} ${DEPLOYER_ID}

minikubeの削除【turtlebot3-pc】

  1. minikubeの停止【turtlebot3-pc】

    turtlebot3-pc$ sudo minikube stop

  2. minikubeの削除【turtlebot3-pc】

    turtlebot3-pc$ sudo minikube delete

  3. 環境ファイルの削除【turtlebot3-pc】

    turtlebot3-pc$ sudo rm -rf /etc/kubernetes/
turtlebot3-pc$ sudo rm -rf $HOME/.minikube/
turtlebot3-pc$ rm -rf $HOME/.kube/