RMF-WEB 配置网络问题

设置Dashboard的环境（前端）

路径packages/dashboard/.env

其中REACT_APP_TRAJECTORY_SERVER、REACT_APP_RMF_SERVER要换成服务器ip地址

# because we are a monorepo, some create-react-app dependencies may be installed in the root directory,
# it complains if it find such packages so we need to disable the check.
SKIP_PREFLIGHT_CHECK=true

REACT_APP_TRAJECTORY_SERVER=ws://localhost:8006
REACT_APP_RMF_SERVER=http://localhost:8000
# REACT_APP_AUTH_PROVIDER="keycloak"
# REACT_APP_KEYCLOAK_CONFIG={"realm":"rmf","clientId":"myclient","url":"http://localhost:8080/"}

（其中注释掉的REACT_APP_AUTH_PROVIDER、REACT_APP_KEYCLOAK_CONFIG是配置登录相关的）
修改结果如下：
image.png

设置api-server

路径packages\api-server\api_server\default_config.py
需要将

  • host 改为0.0.0.0 或 ip 地址，不能使用127.0.0.1或localhost
  • public_url 改为http://ip:8000,不能使用http://localhost:8000
# pylint: disable=line-too-long
config = {
    # ip or hostname to bind the socket to, this only applies when running the server in
    # standalone mode.  
    # "host": "127.0.0.1", host 不能使用127
    # "host":"192.168.3.31", host 可以使用ip
    "host": "0.0.0.0", #host 也可以使用0.0.0.0
    # port to bind to, this only applies when running the server in standalone mode.
    "port": 8000,
    "db_url": "sqlite://:memory:",
    # url that rmf-server is being served on.
    # When being a proxy, this must be the url that rmf-server is mounted on.
    # E.g. https://example.com/rmf/api/v1
    # "public_url": "http://localhost:8000", 不能使用localhost或127.0.0.1
    "public_url": "http://192.168.3.31:8000", #使用ip
    "static_directory": "static",  # The directory where static files should be stored.
    "log_level": "WARNING",  # https://docs.python.org/3.8/library/logging.html#levels
    # a user that is automatically given admin privileges, note that this does not guarantee that the user exists in the identity provider.
    "builtin_admin": "admin",
    # path to a PEM encoded RSA public key which is used to verify JWT tokens, if the path is relative, it is based on the working dir.
    # "jwt_public_key": "/home/rmf/rmf-web/packages/api-server/api_server/test.pub",
    "jwt_public_key": None,
    # url to the oidc endpoint, used to authenticate rest requests, it should point to the well known endpoint, e.g.
    # http://localhost:8080/auth/realms/rmf-web/.well-known/openid-configuration.
    # NOTE: This is ONLY used for documentation purposes, the "jwt_public_key" will be the
    # only key used to verify a token.
    "oidc_url": "None",
    # Audience the access token is meant for. Can also be an array.
    # Used to verify the "aud" claim.
    "aud": ["rmf_api_server","myclient", "account"],
    # url or string that identifies the entity that issued the jwt token
    # Used to verify the "iss" claim
    # If iss is set to None, it means that authentication should be disabled
    # "iss": "http://localhost:8080/realms/rmf",
    "iss":None,
    # list of arguments passed to the ros node, "--ros-args" is automatically prepended to the list.
    # e.g.
    #   Run with sim time: ["-p", "use_sim_time:=true"]
    "ros_args": [],
}

修改结果如下：
image.png

打开端口

以下命令分别是查看防火墙状态、开启防火墙、开启端口、防火墙重启

sudo ufw status
sudo ufw enable
sudo ufw allow 8000
sudo ufw allow 3000
sudo ufw allow 8006
sudo ufw reload

其中3000端口对应dashboard前端端口、8000对应api-server、8006对应websocket

在虚拟机上测试时，为了方便直接关闭了防火墙 （不需要）

sudo ufw disable

ubuntu查看端口开放情况

lsof -i:80

telnet 192.168.0.1 80

输入 lsof -i:端口号,若没有信息出现则说明该端口还未开放

也可以通过以下命令，查看所有开放的端口

netstat -aptn

iptables -nL

最终效果

成功在同局域网下的其他设备上访问rmf服务
输入 http://192.168.3.31:3000/ 进行测试
image.png

输入 http://192.168.3.31:8000/docs 进行测试
image.png

遗留问题

该部署会导致服务器本机3000端口访问8000端口的后端服务时造成跨域问题，可能需要修改前端或后端代码进行修改。