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System Setup on your host#

Overview#

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

You need to copy docker images and necessary files, and checkout Autoware.Auto.

Copy scenario simulator image to your host machine#

The docker image of scenario simulator is registered in docker hub. docker hub

  1. Copy docker image to your host machine.

    docker pull tier4/scenario_simulator_v2:open_ad_kit-amd64-foxy

Copy necessary files to your host machine#

  1. Copy scenario files for scenario simulator.

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

    [Currently placed]

    Copy the scenario files to your home directory as the following directory structure.

    Home Scenario

  2. Copy configuration file of Cyclone DDS.

    You also need to copy cyclonedds.xml to your home directory.

    Home Cyclone DDS

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

    You also need to copy 60_cyclonedds.conf to /etc/sysctl.d directory in your host as well.

    cp 60_cyclonedds.conf /etc/sysctl.d

  4. Update kernel parameters.

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

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,MULTICAST,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: enp0s31f6: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
    link/ether 66:77:88:99:aa:bb brd ff:ff:ff:ff:ff:ff
    inet 192.168.10.1/24 brd 192.168.10.255 scope global noprefixroute enp0s31f6
       valid_lft forever preferred_lft forever
    inet6 fe80::f15d:4196:b777:6875/64 scope link noprefixroute
       valid_lft forever preferred_lft forever
 3: wlp82s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default qlen 1000
    link/ether cc:dd:ee:ff:00:01 brd ff:ff:ff:ff:ff:ff
    inet 192.168.0.28/24 brd 192.168.0.255 scope global dynamic noprefixroute wlp82s0
       valid_lft 3137sec preferred_lft 3137sec
    inet6 fe80::f493:f223:dfcc:bd1b/64 scope link noprefixroute
       valid_lft forever preferred_lft forever
 4: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN group default
    link/ether 23:45:67:89:ab:cd 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 enp0s31f6.

  2. Change the NetworkInterfaceAddress.

    vi ~/cyclonedds/cyclonedds.xml

    For example; 📄 cyclonedds.xml

     <General>
-  <NetworkInterfaceAddress>lo</NetworkInterfaceAddress>
+  <NetworkInterfaceAddress>enp0s31f6</NetworkInterfaceAddress>
 </General>

Setup ADE#

In general, Autoware.Auto runs by using the Agile Development Environment (ADE), so we need to install ADE.

In this test, we use launch file placed in Autoware.Auto to run visualization quickly and easily.

  1. Install ADE on AVA platform by following the instructions; Installation — ADE 4.4.0dev documentation

    Download and setup ADE.

    wget https://gitlab.com/ApexAI/ade-cli/-/jobs/1341322852/artifacts/raw/dist/ade+aarch64 -O ade
chmod +x ade
mv ade /usr/bin/

  2. Setup ADE home directory by following the instructions; Installation with ADE

    mkdir -p ~/adehome
cd ~/adehome
touch .adehome

Checkout Autoware.Auto#

  1. Get Autoware.Auto on your host.

    cd ~/adehome
git clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git