khssnv

version: "3.8"

services:
  nginx:
    image: nginx:1.23
    ports:
      - 80:80
      - 443:443
    volumes:
      - ./nginx.conf:/etc/nginx/conf.d/app.example.com.conf

khssnv

version: "3.8"
 
services:
  app:
    build: .
    labels:
        - traefik.enable=true
        - traefik.http.routers.app.entrypoints=websecure
        - traefik.http.routers.app.rule=Host(`app.example.com`)
        - traefik.http.routers.app.tls=true

khssnv

import argparse

import socket
import sys
import time
import os
import bosdyn.client
import bosdyn.client.lease
import bosdyn.client.util
import bosdyn.geometry

khssnv

```
# -*- mode: ruby -*-
# vi: set ft=ruby :

# Ubuntu Server with GNOME3 desktop and development tools

Vagrant.configure("2") do |config|
  config.vm.box = "ubuntu/focal64"
  config.vm.box_check_update = false
  config.vm.hostname = "ufvm2"

khssnv

% ros2 launch run_moveit_cpp run_moveit_cpp.launch.py
[INFO] [launch]: All log files can be found below /home/khassanov/.ros/log/2020-09-15-11-24-34-337151-vm20-3394
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [3401]
[INFO] [robot_state_publisher-2]: process started with pid [3403]
[INFO] [rviz2-3]: process started with pid [3410]
[INFO] [run_moveit_cpp-4]: process started with pid [3412]
[INFO] [fake_joint_driver_node-5]: process started with pid [3419]
[static_transform_publisher-1] [INFO] [1600161874.685619758] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'panda_link0'

khssnv

If you have a problem with ros_comm built with python3 on Ubuntu 18.04 like

$ rostopic list
Traceback (most recent call last):
  File "/home/user/Workspace/catkin_ws/devel/bin/rostopic", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/user/Workspace/catkin_ws/src/ros_comm/tools/rostopic/scripts/rostopic", line 35, in <module>
    rostopic.rostopicmain()
  File "<string>", line 2118, in rostopicmain
 File "/home/user/Workspace/catkin_ws/devel/lib/python3/dist-packages/rosbag/__init__.py", line 34, in 

khssnv

1. Copy a segment from rosbag file

rosbag filter in.bag out.bag "t.to_sec() >= 1582908021.4 and t.to_sec() <= 1582908029.0"

Source: How to split a recorded rosbag file?

2. Graceful stop for rosbag recording

rosbag record -O out.bag cmd_vel __name:=rosbag
rosnode kill /rosbag

khssnv

1. Add connection config to ssh (it's only for NUC only, you may find jetsons configs in chat):

Open ~/.ssh/config.

Add this and save:

Host nuc-1
    Hostname 192.168.7.231
    User remy
 ForwardX11 yes

khssnv

Build one package with symlinks instead of executables

(to use changed python scripts without rebuilding)

colcon build --packages-select <package_name> --symlink-install

Launch a test with verbose output

colcon test --packages-select <package_name> --pytest-args -k <test_function_name> --event-handlers console_direct+

khssnv

Start your own Liability contract

Replace fields with your values

rostopic pub /liability/incoming robonomics_liability/Liability '{address: {address: "0x5e2024cc4c286f28037C0A3B7b9487Da51fcb2B8"}, model: {multihash: "QmYb81uDNDHCnu9EZtYV4eoBDKRBAwJeNy1LT3p5Zbc357"}, objective: {multihash: "Qmea8XkcSXmvLDKES7D886pfimsWh9Vjh1ZJsoHm9MWG4C"}, result: {multihash: ""}, promisee: {address: "0xB819d9BC2E665962BCa62Cd859059875BABB134c"}, promisor: {address: "0xB85DD5F194a18657f24792a793306b218637ce40"}, lighthouse: {address: "0xD40AC7F1e5401e03D00F5aeC1779D8e5Af4CF9f1"}, token: {address: "0xC02aaA39b223FE8D0A0e5C4F27eAD9083C756Cc2"}, cost: {uint256: "100000000000000000"}, validator: {address: "0x0000000000000000000000000000000000000000"}, validatorFee: {uint256: "0"}}'

Periodically reconnect to airalab IPFS star node

watch -n 10 ipfs --api=/ip4/127.0.0.1/tcp/5001 swarm connect /dns4/lighthouse.aira.life/tcp/4001/ipfs/QmdfQmbmXt6sqjZyowxPUsmvBsgSGQjm4VXrV7WGy62dv8