An example Dockerfile setup for the Freedom Robotics Agent

credentials.env

# Replace with valid credentials for the device you want to create
FR_ACCOUNT=A0000000000000000
FR_DEVICE=D0000000000000000
FR_TOKEN=T0000000000000000
FR_SECRET=S0000000000000000
FR_INSTALL_ELEMENTS=warn_no_fail,no_credentials,service_none

Dockerfile

FROM ros:melodic

RUN apt-get update ; apt-get install -y curl python-pip

# Edit this list to add webrtc and others
ENV FR_INSTALL_ELEMENTS=warn_no_fail,no_credentials,service_none

RUN curl -s "https://api.freedomrobotics.ai/accounts/INSTALL_ONLY/devices/GENERIC_DEVICE/installscript?mc_token=INSTALL_ONLY_DEVICE_TOKEN&install_elements=${FR_INSTALL_ELEMENTS}" | python

RUN mkdir /freedom
COPY ./freedom_register.py /freedom/
COPY ./freedom_keep_alive.py /freedom/
COPY ./entrypoint.sh /freedom/

RUN ls /freedom

ENTRYPOINT /freedom/entrypoint.sh

entrypoint.sh

#!/bin/bash

# Read the credentials for the device from environment variables
# FR_DEVICE, FR_TOKEN, FR_SECRET then register Freedom Robotics
# as a system service with a keep-alive if it exits.
python /freedom/freedom_register.py
python /freedom/freedom_keep_alive.py &

# Replace with your final code or other services to run before.
sleep infinity

freedom_keep_alive.py

import os
import time
import logging
import subprocess

def execute(cmd):
    """
    Simple wrapper for executing command line 
    """
    try:
        return subprocess.check_output(cmd, shell=True).strip()
    except Exception as e:
        return None


def get_freedomrobotics_python_package_path( ):
    """
    Simple helper to get the freedom package base file path on the system
    """

    result = execute( 'pip show freedomrobotics | grep "Location:"' ).split("\n")

    for l in result:
        if "Location:" in l:
            return l.replace("Location: ", "")
    else:
        raise Exception("Could not find python package: " + str(result))


if __name__ == "__main__":

    logging.basicConfig(level=logging.DEBUG)
    logger = logging.getLogger(__name__)

    agent_path = get_freedomrobotics_python_package_path() + "/freedomrobotics/agent.py"

    num_startup_failures = 0

    while True:

        # If it exited immediately, then we assume something happened
        # on startup (Bad credentials, deleted device, etc) and so wait
        # longer inbetween.
        if num_startup_failures > 5:
            time.sleep(60)

        start_agent_time = time.time()
        execute("service freedomrobotics start")
        logger.info("freedomrobotics service started")

        while True:

            time.sleep(10)

            result = execute("service freedomrobotics status")

            if result is None or "is running" not in result:
                logger.error("freedomrobotics service exited")

                if time.time() - start_agent_time < 30:
                    num_startup_failures += 1
                else:
                    num_startup_failures = 0
                break

freedom_register.py

import os
import json
import logging 
import subprocess

from freedomrobotics.management import register_initd_service
from freedomrobotics.management import register_systemd_service

CREDENTIALS_PATH = os.path.expanduser("~/.config/freedomrobotics/credentials")
CREDENTIALS_DIR = os.path.dirname(CREDENTIALS_PATH)

def get_env_var(var):
    return subprocess.check_output("echo $" + var, shell=True).strip()

def execute(cmd):
    try:
        return subprocess.check_output(cmd, shell=True).strip()
    except Exception as e:
        return None

if __name__ == "__main__":

    logging.basicConfig(level=logging.DEBUG)
    logger = logging.getLogger(__name__)

    credentials = {
        "account": get_env_var("FR_ACCOUNT"),
        "device": get_env_var("FR_DEVICE"),
        "token": get_env_var("FR_TOKEN"),
        "secret": get_env_var("FR_SECRET"),
        "install_elements": get_env_var("FR_INSTALL_ELEMENTS").split(",")
        }

    if not os.path.exists(CREDENTIALS_DIR):
        os.makedirs(CREDENTIALS_DIR)

    with open(CREDENTIALS_PATH, 'w') as f:
        f.write(json.dumps(credentials, indent=4))

    systemd_pid = execute("pidof systemd")
    logger.debug("PID of Systemd: " + str(systemd_pid))

    # Try to register the service for 
    register_initd_service.install(logger)

Note - in order to run under python3 I needed to make the following changes. Is this expected? Can/should an update be made to the example files located here?

diff --git a/freedom/freedom_keep_alive.py b/freedom/freedom_keep_alive.py
index 3a8e0de..a091dae 100644
--- a/freedom/freedom_keep_alive.py
+++ b/freedom/freedom_keep_alive.py
@@ -8,7 +8,7 @@ def execute(cmd):
     Simple wrapper for executing command line 
     """
     try:
-        return subprocess.check_output(cmd, shell=True).strip()
+        return subprocess.check_output(cmd, shell=True).decode('utf8').strip()
     except Exception as e:
         return None
 
diff --git a/freedom/freedom_register.py b/freedom/freedom_register.py
index 2bff078..89b377c 100644
--- a/freedom/freedom_register.py
+++ b/freedom/freedom_register.py
@@ -10,11 +10,11 @@ CREDENTIALS_PATH = os.path.expanduser("~/.config/freedomrobotics/credentials")
 CREDENTIALS_DIR = os.path.dirname(CREDENTIALS_PATH)
 
 def get_env_var(var):
-    return subprocess.check_output("echo $" + var, shell=True).strip()
+    return subprocess.check_output("echo $" + var, shell=True).decode('utf8').strip()
 
 def execute(cmd):
     try:
-        return subprocess.check_output(cmd, shell=True).strip()
+        return subprocess.check_output(cmd, shell=True).decode('utf8').strip()
     except Exception as e:
         return None