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Setting up the Docker workflow

Modified 2018-09-28 by Andrea Censi

Andrea Censi

This section shows how to use the Docker functionality and introduces some monitoring tools and workflow tips.

You can ping and SSH into the robot, as explained in Unit B-5 - Duckiebot Initialization.

You have setup the Docker workflow.

The Portainer interface

Modified 2018-09-28 by Andrea Censi

It makes sense to read this only once the network is established, as explained in Unit B-5 - Duckiebot Initialization. In particular, you need to be able to ping and ssh to the robot.

Try to open the Portainer interface:

http://hostname.local:9000/#/containers

This will show the containers that are running.

Communicating with Docker on the Duckiebot using the command line

Modified 2018-10-04 by Russell Buchanan

The following commands can be run on your laptop but will affect the Duckiebot.

It is never needed to log in to the Duckiebot via ssh, though that could be an alternative workflow.

You can set the variable DOCKER_HOST to point to the Duckiebot:

laptop $ export DOCKER_HOST=hostname.local

If you do, then you may omit every instance of the switch -H hostname.local.

Health checks

Modified 2018-10-04 by Russell Buchanan

the container duckietown/rpi-health arrived only recently in the default config (Sep 27). If you have a previous SD card, you have to run it, using:

laptop $ docker -H hostname.local run --device /dev/vchiq -p 8085:8085 -d duckietown/rpi-health:master18

If some of the containers are marked as “unhealthy”, fix the problem before continuing.

The portainer interface shows an "unhealthy" warning.

In particular, the container duckietown/rpi-health checks some common hardware problems.

To access detailed information about the HW health, click the “logs” icon (second icon to the right of the orange “unhealthy” label). Alternatively, open the URL http://hostname.local:8085 in your browser.

Search for the status and status_msgs output:

{
    "status": "error", 
    "status_msgs": [
        "Error: PI is throttled", 
        "Error: Under-voltage", 
        "Warning: PI throttling occurred in the past.", 
        "Warning: Under-voltage occurred in the past."
    ]
...
}

The throttling and under-voltage warnings have to do with the power supply. Note that the PI can be damaged by inadequate power supply, so fix these as soon as possible.

Seeing files on the Duckiebot

Modified 2018-09-28 by Andrea Censi

On the Duckiebot there is a directory /data that will contain interesting files.

To access this content, you have two ways.

From another computer, you can see the contents of /data by visiting the URL:

http://hostname.local:8082

Otherwise, you can login via SSH and take a look at the contents of /data:

laptop $ ssh hostname.local ls /data

Building workflow

Modified 2018-09-28 by Andrea Censi

Finally, we want to make sure that the Docker daemon on the robot can build successfully.

To verify that, follow the rpi-duckiebot-simple-python tutorial available here.

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