Installation Instructions

Summary

The goals of this page are to provide more detail than Quickstart and to treat special cases. If Quickstart worked for you, then you can safely skip this page.

The details vary depending upon the hardware that you want to share. These instructions are work in progress, and contributions and feedback are welcome. Please open a ticket at https://github.com/rerobots/hardshare/issues

Installation instructions are provided for macOS and modern GNU/Linux distributions, such as Ubuntu. We are working to support other kinds of hosts, including Windows and FreeBSD. If your host is not supported well, please tell us.

Main Aspects

The main aspects to an operational hardshare installation:

  1. API token for a rerobots user account,
  2. hardshare client,
  3. a container provider (also known as cprovider),
  4. rules around instance initialization, termination, and filtering.

To begin, initialize a new configuration

hardshare init

API Tokens

Instructions about managing API tokens are in the rerobots Web Guide. The token that you create at https://rerobots.net/tokens and download is saved to your local hardshare configuration. As such, the default expiration time might be too small for your application. Download the token, and add it

hardshare config --add-token path/to/your/jwt.txt

Containers

Hardshare shares hardware among remote users through containers. The term container in the context of hardshare includes Linux containers. Supporting software that facilitates containers in hardshare are known cproviders. For new users, Docker is a good first cprovider to try and is the default in a newly installed hardshare client configuration.

Finally, releases of the client are available at https://github.com/rerobots/hardshare/releases When installed, you should be able to get the version from the command-line interface (CLI)

hardshare version

Prepare a cprovider

Docker

The default cprovider is docker, which works for installations of Docker from the package management systems of popular distributions. For rootless Docker,

hardshare config --cprovider docker-rootless

In most cases, Docker images are available via Docker Hub. The correct image to use depends on your host architecture. On Linux, you can do

uname -m

to find this. For example, on Raspberry Pi this would be armv7l, so Docker image tags that begin with armv7l- can be used. To get the latest release of the base generic image

docker pull rerobots/hs-generic:armv7l-latest

which pulls the image from Docker Hub. To declare this image in the local hardshare configuration

hardshare config --assign-image rerobots/hs-generic:armv7l-latest

Many consumer "desktop" and "laptop" computers have the x86_64 architecture, so the corresponding image is instead rerobots/hs-generic:x86_64-latest. Recent versions of RaspberryPi have aarch64 (also known as arm64).

Images in this registry are defined by Dockerfiles under the directory devices/ of the sourcetree. To build the image from source files, use the command given in the comments of the Dockerfile. For example,

docker build -t rerobots/hs-generic:latest -f Dockerfile .

Podman

So-called rootless Linux containers can require extra configuration to present character devices inside. If SELinux is installed, try

sudo setsebool -P container_use_devices=true

Add the user as whom the hardshare processes will run to the group necessary for device access. This group is shown by a command like stat /dev/ttyACM0. If it is dialout, then

sudo usermod -a -G dialout username

and add the ID of this group to the range of subordinate group IDs for the user with a line in /etc/subgid like

username:20:1

If this is not sufficient, then find the GID of the character device inside the intended Podman image and use a switch like podman run --group-add 65537.

For many operations, podman is a drop-in replacement for docker. To switch to it with an existing hardshare configuration (created as described above),

hardshare config --cprovider podman

Then, the section about Docker can be followed by replacing docker with podman.

LXD

For many operations, LXD is a drop-in replacement for docker. To switch to it with an existing hardshare configuration (created as described above),

hardshare config --cprovider lxd

Then, the section about Docker can be followed by replacing docker with lxc.

Include Devices

For example,

hardshare config --add-raw-device /dev/ttyUSB0

Access Rules

Each robot shared through rerobots is subject to access rules about who can do what with it. These rules are said to define capabilities. The decision sequence for a user username trying to perform some action is the following:

  1. if there is a rule about action explicitly for username, then apply it;
  2. else, if there is a rule about action that is for a class of users of which username is a member, then apply it;
  3. else, if there is a rule about action that targets all users (indicated by *), then apply it;
  4. else (no match), default to not permit.

The most simple kind of rule is whether or not to allow someone to remotely access a device. When a new device is registered, a single rule is created that permits only you (i.e., your user account) to create instances. To get the list of access rules

hardshare rules -l

which should only have 1 item under rules: a capability CAP_INSTANTIATE and your username. To allow other users

hardshare rules --permit-all

What Next?

At this stage, you have a ready-to-use hardshare host. Next: