System Setup on AVA platform#

Overview#

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

Access to AVA platform via SSH#

ssh root@IP-ADDRESS

For example;

ssh root@192.168.0.62

Download kubernetes yaml files#

Autoware.Universe runs as k3s clusters in Open AD Kit, so please download kubernetes yaml files to deploy Autoware to AVA platform.

Download.

wget https://raw.githubusercontent.com/autowarefoundation/open-ad-kit-docs/main/docs/version-2.0/start-guide/installation/deployments/comhpc-deployments.zip

Unzip it.

unzip comhpc-deployments.zip -d comhpc-deployments

You will see the following files are unzipped.

Archive:  comhpc-deployments.zip
  inflating: comhpc-api-deployment.yaml
  inflating: comhpc-control-deployment.yaml
  inflating: comhpc-map-deployment.yaml
  inflating: comhpc-persistent-volume.yaml
  inflating: comhpc-persistent-volume-claim.yaml
  inflating: comhpc-planning-deployment.yaml
  inflating: comhpc-simulator-deployment.yaml
  inflating: comhpc-system-deployment.yaml
  inflating: comhpc-vehicle-deployment.yaml

Download map files#

Download from Google Drive.

wget "https://drive.google.com/uc?export=download&id=1vWMLbmwJJE5tYO40ypCMxqtmgQPQxhiw&confirm=t&uuid=3d84d854-3dd2-4950-8cc8-248feeab547d" -O sample_data.zip

Unzip it.
```
unzip sample_data.zip
```

Move map directory from sample_data.

mv sample_data/map/ ~/

You will see the following files are located.

root@ava:~# ls -la ~/map
total 61288
drwxrwxr-x 2 root root     4096 Aug 18 06:23 .
drwx------ 6 root root     4096 Aug 18 06:23 ..
-rw-r--r-- 1 root root  1841436 Aug 18 06:23 lanelet2_map.osm
-rw-r--r-- 1 root root 60904720 Aug 18 06:23 pointcloud_map.pcd

Download kernel configuration file for tuning kernel parameters#

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

Download.

wget -P /etc/sysctl.d https://raw.githubusercontent.com/autowarefoundation/open-ad-kit-docs/main/docs/version-2.0/start-guide/installation/sysctl.d/60_cyclonedds.conf

Update kernel parameters.

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

Download configuration file of Cyclone DDS#

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

Download cyclonedds.xml.

wget -P ~/cyclonedds https://raw.githubusercontent.com/autowarefoundation/open-ad-kit-docs/main/docs/version-2.0/start-guide/installation/cyclonedds/cyclonedds.xml

Modify `cyclonedds.xml`#

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

Find network interface.

You can find a network interface such as enP4p4s0.

root@comhpc:~# ip a
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: enP4p4s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000
   link/ether 00:30:64:1a:0a:65 brd ff:ff:ff:ff:ff:ff
   inet 192.168.0.62/24 brd 192.168.0.255 scope global dynamic enP4p4s0
      valid_lft 3383sec preferred_lft 2933sec
   inet6 fe80::1ab4:7a14:28e:4e61/64 scope link
      valid_lft forever preferred_lft forever
   inet6 fe80::230:64ff:fe1a:a65/64 scope link
      valid_lft forever preferred_lft forever
3: sit0@NONE: <NOARP> mtu 1480 qdisc noop state DOWN group default qlen 1000
   link/sit 0.0.0.0 brd 0.0.0.0
4: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN group default
   link/ether 02:42:4b:b2:ee:68 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
...

Change the NetworkInterfaceAddress.

vi ~/cyclonedds/cyclonedds.xml

For example; cyclonedds.xml

 <General>
-  <NetworkInterfaceAddress>lo</NetworkInterfaceAddress>
+  <NetworkInterfaceAddress>enP4p4s0</NetworkInterfaceAddress>
 </General>