Run with docker#
You can use this scenario_simulator_v2 with docker.
We automatically build docker images by using GitHub Actions and push them into Docker Hub.
If you want to run scenario_simulator_v2 with docker, please follow the instructions below.
Currently, macOS and Windows are not supported.
Install dependencies#
Install Docker
Please follow the instructions below. If you finished installing docker, please execute the commands below in order to check docker is working well.docker run hello-world
Unable to find image 'hello-world:latest' locally
latest: Pulling from library/hello-world
2db29710123e: Pull complete
Digest: sha256:80f31da1ac7b312ba29d65080fddf797dd76acfb870e677f390d5acba9741b17
Status: Downloaded newer image for hello-world:latest
Hello from Docker!
This message shows that your installation appears to be working correctly.
To generate this message, Docker took the following steps:
1. The Docker client contacted the Docker daemon.
2. The Docker daemon pulled the "hello-world" image from the Docker Hub.
(amd64)
3. The Docker daemon created a new container from that image which runs the
executable that produces the output you are currently reading.
4. The Docker daemon streamed that output to the Docker client, which sent it
to your terminal.
To try something more ambitious, you can run an Ubuntu container with:
$ docker run -it ubuntu bash
For more examples and ideas, visit:
https://docs.docker.com/get-started/
Install nvidia-docker2 (optional)
If you have NVIDIA GPU(s) in your machine, you have to install nvidia-driver and nvidia-docker2.In order to install nvidia-docker2 on Ubuntu, please execute the commands below.
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
docker run --gpus all --rm nvidia/cuda:11.4.0-base nvidia-smi
Thu Jun 2 05:52:32 2022
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 470.129.06 Driver Version: 470.129.06 CUDA Version: 11.4 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA GeForce ... Off | 00000000:01:00.0 On | N/A |
| 41% 39C P8 25W / 250W | 1236MiB / 10985MiB | 3% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
+-----------------------------------------------------------------------------+
Install Rocker
rocker is a docker support tool for ROS. It enables us to run rviz inside docker very easily. You can install rocker via pip3.sudo pip3 install git+https://github.com/osrf/rocker.git
If your machine has GPU(s), please execute the commands below.
rocker --nvidia --x11 osrf/ros:humble-desktop rviz2
rocker --x11 osrf/ros:humble-desktop rviz2
Run sample scenario with Docker#
You can run the sample scenarios easily by using our pre-built docker image.
Optional : Build docker image locally
If you want to build a docker image in your local machine, please execute the commands below in your terminal.cd path/to/scenario_simulator_v2
docker build -t scenario_simulator_v2 . --build-arg ROS_DISTRO=humble
to use your built docker image in the launching commands.
If your local machine has NVIDIA GPU(s), you can launch scenario_simulator_v2 with test scenarios
docker pull ghcr.io/tier4/scenario_simulator_v2:humble
rocker --nvidia --x11 ghcr.io/tier4/scenario_simulator_v2:humble ros2 launch cpp_mock_scenarios mock_test.launch.py scenario:=crashing_npc scenario:=traffic_simulation_demo launch_rviz:=true timeout:=60.0
If your local machine does NOT have NVIDIA GPU(s), you can launch scenario_simulator_v2 with test scenarios
docker pull ghcr.io/tier4/scenario_simulator_v2:humble
rocker --x11 ghcr.io/tier4/scenario_simulator_v2:humble ros2 launch cpp_mock_scenarios mock_test.launch.py scenario:=crashing_npc scenario:=traffic_simulation_demo launch_rviz:=true timeout:=60.0
Run your custom scenario with Docker#
Preparation#
Please check isEgo value is set to false before running this script.
For example, like below.
ObjectController:
Controller:
name: ''
Properties:
Property:
- { name: isEgo, value: 'false' }
Replace $PWD/path/to/your/scenario.yaml in two places with your custom scenario,
and execute the command below
rocker --x11 --oyr-mount $PWD/path/to/your/scenario.yaml \
-- ghcr.io/tier4/scenario_simulator_v2:humble \
ros2 launch scenario_test_runner scenario_test_runner.launch.py \
scenario:=$PWD/path/to/your/scenario.yaml launch_rviz:=True
Please also refer to the sample we prepared.
wget https://gist.github.com/hakuturu583/5e6a651df9abdf25dca7071ff5ea8ac3/archive/1448057aeebc34cbfc04598b965440fcf7ecb636.zip
unzip 1448057aeebc34cbfc04598b965440fcf7ecb636.zip
mv 5e6a651df9abdf25dca7071ff5ea8ac3-1448057aeebc34cbfc04598b965440fcf7ecb636 scenarios
sudo pip3 install git+https://github.com/sloretz/off-your-rocker.git
docker pull ghcr.io/tier4/scenario_simulator_v2:humble
rocker --x11 --oyr-mount $PWD/scenarios/UC-001-0001-Kashiwa.yaml -- ghcr.io/tier4/scenario_simulator_v2:humble ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:=$PWD/scenarios/UC-001-0001-Kashiwa.yaml launch_rviz:=True