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Mole

License (CC0)

Mole is a tool to assist with testing and experimentation involving robots and autonomous systems. It can facilitate the following:

  • test and experiment execution: tracking who, what, where, when, why, and how of the experiment
  • data collection: acquiring targeted data based on events representing "conditions of interest"
  • orchestration: controlling experiment infrastructure to enable dyamic yet repeatable scenarios
  • monitoring: confirming system, infrastructure, and personnel status over time
  • analysis and reporting: generating pre-defined performance metrics and figures to rapidly produce stakeholder reports

Requirements

  1. Docker

Add docker apt repository, install Docker, create docker group and add the user to it, then start the service. See https://docs.docker.com/engine/install/ubuntu/

$ sudo apt-get update
$ sudo sudo apt-get install apt-transport-https ca-certificates curl gnupg lsb-release
$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
$ echo "deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

$ sudo apt-get update
$ sudo apt-get install docker-ce docker-ce-cli containerd.io

$ sudo groupadd docker
$ sudo usermod -aG docker $USER
$ sudo service docker start

Reboot, then confirm docker is running.

$ docker run hello-world
  1. docker-compose

Install Docker-Compose locally, set permissions, and modify the path. See https://docs.docker.com/compose/install/

$ sudo curl -L "https://github.com/docker/compose/releases/download/1.29.2/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose
$ sudo chmod +x /usr/local/bin/docker-compose
$ sudo ln -s /usr/local/bin/docker-compose /usr/bin/docker-compose

Confirm that docker-compose is installed

$ docker-compose --version
  1. openssl

In order for Mole to automatically generate keys/certificates for https, the openssl command must be installed on the host. This is normally the case by default.

Documentation

Documentation is available at https://niwcpac.github.io/mole/

Documentation can also be built and served locally using the ml script at the root of the Mole repo. The ml script can be used to build containers, start services, populate dbs, stop services, or build and serve documentation. It is structured with a number of commands. Additional help on each command can be found by passing the -h flag. E.g., ./ml run -h.

The following command will serve Mole documentation locally at http://localhost/docs/:

$ ./ml docs

Contributors

Mole is built by many contributors and volunteers. Please see the full list in CONTRIBUTORS.md.

Contributing

If you would like to contribute to Mole, please see CONTRIBUTING.md.