Ansible automation to setup turtlebot4 for SwarmBots
Installation
- Install Ansible as desired based on what is specified in their official documentation. It can be with your OS packet manager, or even through PIP.
- OpenSSH server is required for every single machine. Therefore make sure to have it, or install it by running:
sudo apt install openssh-server- In the master machine, create for Ansible an ssh key to ensure connection with the remotes. Give it the desired name, comment, and no passphrase. In this example the name and comment will be "ansible".
ssh-keygen -t ed25519 -C "ansible"- Copy the new generated ssh-key into the remote machines.
ssh-copy-id -i `username@ip_address`You will no longer require a password to access these remote machines.
Usage
Update all the devices in the inventory list
ansible-playbook update.yaml -i ~/ansible_automation/production/hosts -K
- K will prompt for the user password to continue
To setup the environment variables for each robot robots
ansible-playbook set_env_variables.yaml -i ~/ansible_automation/production/hosts -K
Startup launch files in all robots as systemd service
ansible-playbook ros2-deploy.yaml -e "ansible_user=ipa remove=true" -i production/hosts.yaml -K -v
- remove=true for removing the systemd service
- remove=false for starting up systemd service
Startup launch files in all robots
ansible-playbook ros2-build-launch.yaml -e "ansible_user=ipa remove=true" -i production/hosts.yaml -K -v
To reboot all the devices in the inventory list
ansible-playbook reboot.yaml -i ~/ansible_automation/production/hosts -K