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System Setup on Xavier platform#

Overview#

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

Access to Xavier platform via SSH#

ssh root@IP-ADDRESS

💬 For example;

ssh nv@192.168.10.46

Copy Autoware Universe image to Xavier#

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

The docker image of Autoware Universe for arm64 is registered in Autoware Foundation Container Registry.

  1. Copy docker image to Xavier.

    docker pull ghcr.io/autowarefoundation/autoware-universe:galactic-20220728-prebuilt-cuda

K3s Installation#

NOTE: K3s should be installed with following steps. For official instructions please refer to: Install K3s on Ubuntu.

  1. Install K3s.

    curl -sfL https://get.k3s.io | sh -

  2. Create directory.

    mkdir ~/.kube/

  3. Copy config file

    sudo cp /etc/rancher/k3s/k3s.yaml ~/.kube/config

  4. Setting environment

    export KUBECONFIG=~/.kube/config

Download kubernetes yaml files#

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

  1. Download.

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

  2. 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#

  1. 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

  2. Unzip it.

    unzip sample_data.zip

  3. Move map directory from sample_data.

    mv sample_data/map/ ~/

    💬 You will see the following files are located.

    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.

  1. 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

  2. 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.

  1. 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.

  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: dummy0: <BROADCAST,NOARP> mtu 1500 qdisc noop state DOWN group default qlen 1000
 link/ether 0e:fa:61:5e:35:cd brd ff:ff:ff:ff:ff:ff
3: eth0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc pfifo_fast state DOWN group default qlen 1000
 link/ether 48:b0:2d:2b:7a:a8 brd ff:ff:ff:ff:ff:ff
4: l4tbr0: <BROADCAST,MULTICAST> mtu 1500 qdisc noop state DOWN group default qlen 1000
 link/ether 82:24:ce:68:6a:bd brd ff:ff:ff:ff:ff:ff
5: rndis0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc pfifo_fast master l4tbr0 state DOWN group default qlen 1000
 link/ether 82:24:ce:68:6a:bd brd ff:ff:ff:ff:ff:ff
6: usb0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc pfifo_fast master l4tbr0 state DOWN group default qlen 1000
 link/ether 82:24:ce:68:6a:bf brd ff:ff:ff:ff:ff:ff
7: eth1: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UP group default qlen 1000
 link/ether 2c:16:db:a3:03:10 brd ff:ff:ff:ff:ff:ff
 inet 192.168.10.46/22 brd 192.168.11.255 scope global dynamic noprefixroute eth1
    valid_lft 84077sec preferred_lft 84077sec
 inet6 fe80::9fcb:8fc6:a1a4:c6d2/64 scope link noprefixroute
    valid_lft forever preferred_lft forever
8: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN group default
 link/ether 02:42:0b:47:8f:45 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 eth1.

  2. Change the NetworkInterfaceAddress.

    vi ~/cyclonedds/cyclonedds.xml

    For example; 📄 cyclonedds.xml

     <General>
-  <NetworkInterfaceAddress>lo</NetworkInterfaceAddress>
+  <NetworkInterfaceAddress>eth1</NetworkInterfaceAddress>
 </General>