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System Setup on PCU#

Overview#

This instruction explains how to perform system setup for test execution on PCU.

You need to install Docker Engine, copy docker images and necessary files.

Access to PCU via SSH#

ssh user@IP-ADDRESS

For example;

ssh user@192.168.10.221

Copy Autoware.Auto image to PCU#

NOTE: docker should be installed with post-installation steps. For instructions please refer to:

The docker image of Autoware.Auto is registered in GitLab Container Registry. GitLab Container Registry

  1. Copy docker image to PCU.

    docker pull registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/arm64/openadkit-foxy:latest

Copy necessary files to local Downloads folder#

  1. Copy files related to map contents.

    Files are placed in the directory 📁docs/Appendix/Open-AD-Kit-Start-Guide/map

    Copy files to your local folder (Downloads folder as example) as the following directory structure.

    Local Map

  2. Copy configuration file of Cyclone DDS.

    In this test, we are using Cyclone DDS, so you also need to copy configuration file of Cyclone DDS.

    File is placed in the directory 📁docs/Appendix/Open-AD-Kit-Start-Guide/cyclonedds

    Copy the file to your local folder as the following directory structure.

    Local Cyclone DDS

  3. Copy kernel configuration file for tuning kernel parameters.

    We have to reconfigure kernel parameters by using sysctl for system stability.

    File is placed in the directory 📁docs/Appendix/Open-AD-Kit-Start-Guide/sysctl.d

    Copy the file to your local folder.

Copy files from local folder to PCU#

  1. Connect your host PC with PCU through internet and copy files with SCP.

    1. Access to PCU via SSH

      For example;

      ssh user@192.168.10.221

    2. Copy kernel configuration file to /etc/sysctl.d/

      sudo scp USER-NAME@IP-ADDRESS:/home/USER-NAME/Downloads/60_cyclonedds.conf /etc/sysctl.d/

      For example;

      sudo scp adlink@192.168.10.237:/home/adlink/Downloads/60_cyclonedds.conf /etc/sysctl.d/

      Then type in the password of PCU (default password: user) and host PC as request.

    3. Update kernel parameters.

      sudo sysctl -p /etc/sysctl.d/60_cyclonedds.conf

    4. Copy map contents files and Cyclone DDS configuration file.

      sudo scp -r USER-NAME@IP-ADDRESS:/home/adlink/Downloads/map ~/

      sudo scp -r USER-NAME@IP-ADDRESS:/home/adlink/Downloads/cyclonedds ~/

Modify cyclonedds.xml#

You need to change the element NetworkInterfaceAddress to the network interface currently in use.

  1. Find network interface.

    ip addr
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
   link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
   inet 127.0.0.1/8 scope host lo
     valid_lft forever preferred_lft forever
   inet6 ::1/128 scope host
     valid_lft forever preferred_lft forever
2: fm1-mac1: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc mq master br0 state DOWN group default qlen 1000
   link/ether 00:04:7c:2e:01:90 brd ff:ff:ff:ff:ff:ff
   inet6 fe80::204:7cff:fe2e:190/64 scope link
     valid_lft forever preferred_lft forever
3: fm1-mac5: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000
   link/ether 00:04:7c:2e:01:91 brd ff:ff:ff:ff:ff:ff
   inet 192.168.10.221/24 brd 192.168.10.255 scope global dynamic fm1-mac5
     valid_lft 254392sec preferred_lft 254392sec
   inet6 fe80::204:7cff:fe2e:191/64 scope link
     valid_lft forever preferred_lft forever
4: fm1-mac6: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc mq master br0 state DOWN group default qlen 1000
   link/ether 00:04:7c:2e:01:90 brd ff:ff:ff:ff:ff:ff
5: fm1-sw: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq master br0 state UP group default qlen 1000
   link/ether 00:04:7c:2e:01:90 brd ff:ff:ff:ff:ff:ff
   inet6 fe80::204:7cff:fe2e:190/64 scope link
      valid_lft forever preferred_lft forever
6: fm1-mac10: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc mq master br0 state DOWN group default qlen 1000
   link/ether 00:04:7c:2e:01:90 brd ff:ff:ff:ff:ff:ff
7: sit0@NONE: <NOARP> mtu 1480 qdisc noop state DOWN group default qlen 1000
   link/sit 0.0.0.0 brd 0.0.0.0
8: br0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default qlen 1000
   link/ether 00:04:7c:2e:01:90 brd ff:ff:ff:ff:ff:ff
   inet 192.168.1.239/24 brd 192.168.1.255 scope global br0
     valid_lft forever preferred_lft forever
   inet6 fe80::204:7cff:fe2e:190/64 scope link
     valid_lft forever preferred_lft forever
9: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN group default
   link/ether 02:42:cb:aa:a6:9d brd ff:ff:ff:ff:ff:ff
   inet 172.17.0.1/16 brd 172.17.255.255 scope global docker0
     valid_lft forever preferred_lft forever

    💬 You can find a network interface such as fm1-mac5.

  2. Change the NetworkInterfaceAddress.

    sudo vi ~/cyclonedds/cyclonedds.xml

    For example; 📄 cyclonedds.xml

     <General>
-  <NetworkInterfaceAddress>lo</NetworkInterfaceAddress>
+  <NetworkInterfaceAddress>fm1-mac5</NetworkInterfaceAddress>
 </General>