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.

Download scenario simulator image to your host machine#

The docker image of scenario simulator is registered in GitHub Container Registry

Copy docker image to your host machine.

docker pull ghcr.io/tier4/scenario_simulator_v2:galactic

Install nvidia-docker2 & Rocker#

In this test, we try to run rviz inside docker, so please install nvidia-docker2 & Rocker.

This is quoted from Scenario testing framework for Autoware: Run on Docker

If you have NVIDIA GPU(s) in your machine, you have to install nvidia-driver and nvidia-docker2.

curl -s -L https://nvidia.github.io/nvidia-container-runtime/gpgkey | sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-container-runtime/ubuntu20.04/nvidia-container-runtime.list | \
  sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list
sudo apt-get update
sudo apt install -y nvidia-docker2
sudo systemctl restart docker.service

Install Rocker

sudo pip3 install git+https://github.com/osrf/rocker.git

Download map and scenario 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
```
Open the scenario file named t4v2.yaml in sample_data.
Change the path to lanelet2_map.osm and 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.

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.

Change the NetworkInterfaceAddress.

vi ~/cyclonedds/cyclonedds.xml

For example; cyclonedds.xml

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