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Add a certificate creation script #69

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Add a certificate creation script #69

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185fca1
Add a try exception block on loading URDF from export folder
hello-fazil Jul 10, 2024
cec8388
formatting fix
hello-fazil Jul 10, 2024
dbfecbb
Add a certificate creation script
hello-fazil Jul 10, 2024
246e38b
bugfix create certificate script
hello-fazil Jul 10, 2024
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15 changes: 15 additions & 0 deletions create_certificates.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
echo "Generating web interface certs..."
cd certificates
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Now that we've moved this script to this repo, its possible that users will run it from a different folder (e.g., the workspace root). I'd recommend adding a check for whether the certificates director exists, as a heuristic for whether the user is in the stretch_web_teleop folder. If it does not exist, the script should echo a message telling users it must be run from stretch_web_teleop, and exit.

curl -JLO "https://dl.filippo.io/mkcert/latest?for=linux/amd64"
chmod +x mkcert-v*-linux-amd64
sudo cp mkcert-v*-linux-amd64 /usr/local/bin/mkcert
CAROOT=`pwd` mkcert --install
mkdir -p ~/.local/share/mkcert
rm -rf ~/.local/share/mkcert/root*
cp root* ~/.local/share/mkcert
mkcert ${HELLO_FLEET_ID} ${HELLO_FLEET_ID}.local ${HELLO_FLEET_ID}.dev localhost 127.0.0.1 0.0.0.0 ::1
rm mkcert-v*-linux-amd64
cd ..
touch .env
echo certfile=${HELLO_FLEET_ID}+6.pem >> .env
echo keyfile=${HELLO_FLEET_ID}+6-key.pem >> .env
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Nit: newline at EOF.

9 changes: 8 additions & 1 deletion prepare_specialized_urdf.py
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Expand Up @@ -2,6 +2,7 @@
import pathlib
import pprint
import subprocess
import sys
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You should rebase on top of master to eliminate this commit. (The reason this arises is the default merge strategy for this repo is Squash & Merge)

from typing import Dict, Optional, Tuple

# Third-party imports
Expand Down Expand Up @@ -94,7 +95,13 @@ def save_urdf_file(robot, file_name):
print("Loading URDF from:")
print(urdf_filename)
print("The specialized URDFs will be derived from this URDF.")
robot = ud.Robot.from_xml_file(urdf_filename)
try:
robot = ud.Robot.from_xml_file(urdf_filename)
except FileNotFoundError:
print(
f"The URDF file was not found in path {urdf_filename}. Unable to create specialized URDFs."
)
sys.exit(0)

# Change any joint that should be immobile for end effector IK into a fixed joint
for j in robot.joint_map.keys():
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