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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.

Download scenario simulator image to your host machine#

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

  1. 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

  1. 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
    
  2. Install Rocker

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

Download map and scenario 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. Open the scenario file named t4v2.yaml in sample_data.

    t4v2.yaml

  4. Change the path to lanelet2_map.osm and pointcloud_map.pcd.

    Edit t4v2.yaml

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,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>