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On-boarding a Device

Pre-requisites

The following is the list of requirements for registering devices on rapyuta.io

Ubuntu(16.04 and 18.04) by default resolves the hostname to localhost. If you do change this behavior on the host OS, roscore will not be able to start. A simple way to check if roscore can be started is to do nslookup $(hostname) if it returns a DNS record you are probably good to go.

Ensure you install ros-kinetic-ros-base, or ros-melodic-ros-base, or above it.

Register a New Device

To register a new device on rapyuta.io, follow the below steps:

  1. On the left navigation bar, click Devices>All Devices.

  2. Click ADD NEW DEVICE.

  3. Type a name for the device in the Device Name box.

  4. You can choose to build the application’s source code inside the device or outside it.

    1. If the application source code is already built locally in the device, do not select Use docker compose as default runtime option.

      If you have not selected Use docker compose as default runtime option, provide the absolute path of your catkin workspace as the ROS Catkin Workspace value. If you are using a custom rapyuta.io image on the device, your catkin workspace will be /home/rapyuta/catkin_ws where catkin_ws is the name of the catkin workspace. Otherwise, you will have a different absolute path for your catkin workspace. Device Details

      The ROS Catkin Workspace can be empty, and you can provide this value on the device’s Details page.

    2. If you want to build the application source code in the rapyuta.io platform and push the build to the device remotely, select Use docker compose as default runtime option. On selecting this option, you will be asked to choose the version of ROS installed on the device. You can either select Kinetic or Melodic based on the ROS version of your device.
      Select ROS version

    3. If you have selected Use docker compose as default runtime option, provide the path to store the ROS bag files on the device in the Rosbag mount path field. By default, the path is /opt/rapyuta/volumes/rosbag.

      After you onboard a device, you cannot change the mount path to store the ROS bag files. If you want to change the mount path after adding the device, you can re-onboard the device and change the mount path.

  5. In the Description box, enter a summary of the device.

  6. Click CONTINUE.

  7. To copy the generated token (a unique device setup link), click COPY.
    You must copy the token before it expires in ten minutes. To generate the token again, click Token on the Devices page. Device Token

What to do next: Adding a device to the rapyuta.io platform does not mean that the device is connected. To connect your device to the platform, you must set up the device.

Setting Up Your Device

Copy, paste, and run the device’s token in the command terminal of the device. The token sets up the rapyuta.io device client on the device. Sometimes, you may need root permission to execute the token on the device.

You may access the command terminal of the device physically using a screen and keyboard, through SSH, or any other serial TTY method available.

If the device is set up successfully, you should see the following output on the command terminal:


Initializing the Rapyuta Platform

########(100%)

Successfully installed!

root@ubuntu:/home/ubuntu#

The process of installing a device consists of different stages towards successful completion of onboarding the device onto rapyuta.io. These stages are described below:

  • Checking and installing required python or apt packages.
  • Installing ROS messages collector package.
  • Installing communication package.
  • Installing metrics collector package.
  • Installing monitoring package.
  • Pulling ROS base image.

Not all devices go through all of the stages in the device initialization process. For example, while devices with docker-compose option set will have ROS base image installed on them, those with preinstalled runtime will have monitoring package installed on them.

In case you face issues onboarding the device. Please refer to the section on failure codes to help you troubleshoot.

When the device is successfully registered, you will see a green dot next to the device’s name, which indicates that the device is online.

Registered Status of Device