[DOCKER] Install Autoware on Ubuntu 18.04.5

Install the latest Autoware from a clean Ubuntu state. (As of 12/24/2020)

reference: https://qiita.com/hgoj/items/e23c463b885e7bb1b911 https://qiita.com/kameyama-eiji/items/0b3f914dbe03a83a1231

First stage: Ubuntu installation https://qiita.com/atsuto/items/b31a82b984169c20f448

About PC

Alienware Memory: 32GB CPU: Intel Core i7 2.9GHz (8 cores) GPU：GeForce GTX 1080

About version

ROS：Autoware.AI ROS2：Autoware.auto There are two systems. About supported versions: https://faboplatform.github.io/AutowareDocs/07.RC_program/00.about_ros/ This time, ROS1, Ubuntu18.04.5, Autoware

git installation

sudo apt update
sudo apt install git

Clone and run

$ git clone https://gitlab.com/autowarefoundation/autoware.ai/docker.git
$ cd docker/generic
$ ./run.sh

error.

Docker installation

It seems that there is no Docker, so install it according to the following page. https://docs.docker.com/engine/install/ubuntu/ docker-ce 5:20.10.1~3-0~ubuntu-bio amd64

once again

$ sudo ./run.sh

There is no nvidia.

CUDA installation

https://qiita.com/ksasaki/items/b20a785e1a0f610efa08 https://developer.nvidia.com/cuda-downloads You should add -drivers at the end. cuda-drivers 460.27.04-1

sudo apt-get -y install cuda-drivers

Nvidia Docker option changes

Because the following error will occur

docker: Error response from daemon: Unknown runtime specified nvidia.

https://qiita.com/ksasaki/items/b20a785e1a0f610efa08 Changed from --runtime = nvidia to --gpus all, referring to

run.sh

    RUNTIME="--gpus all"

GPU recognition

An error that the GPU cannot be recognized.

docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]].

Refer to this area. https://qiita.com/tomp/items/50081b99df7963462488 https://blog.uni-3.app/2019/08/08/docker-gpu/ https://waldeinsamkeit.hatenablog.jp/entry/2019/08/17/002854

Is the GPU confirmation command returned?

$ nvidia-smi

In the end, it worked below.

$ systemctl restart docker.service

UID setting

Changing autoware user ID to match your host's user ID (0).
This operation can take a while...
usermod: UID '0' already exists

When I execute the command with sudo, the UID becomes 0, so I changed it to my own UID, 1000.

run.sh

USER_ID="$(id -u)"

↓

run.sh

USER_ID="1000"

I passed!

boldly@boldly-Alienware-17-R4:~/Documents/docker/generic$ sudo ./run.sh 
[sudo] password for boldly: 
Using options:
	ROS distro: melodic
	Image name: autoware/autoware
	Tag prefix: latest
	Cuda support: on
	Pre-release version: off
	UID: <1000>
Launching autoware/autoware:latest-melodic-cuda
To run a command as administrator (user "root"), use "sudo <command>".
See "man sudo_root" for details.

autoware@boldly-Alienware-17-R4:/home/autoware$

The autoware user directory is created and you are the autoware user.

Start Autoware

$ cd Autoware
$ source install/setup.bash
$ roslaunch runtime_manager runtime_manager.launch &

↓ Result

... logging to /home/autoware/.ros/log/c5c1dc98-4693-11eb-94d6-9cb6d0e65079/roslaunch-boldly-Alienware-17-R4-84.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://boldly-Alienware-17-R4:34879/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.6

NODES
  /
    run (runtime_manager/run)

auto-starting new master
process[master]: started with pid [94]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c5c1dc98-4693-11eb-94d6-9cb6d0e65079
process[rosout-1]: started with pid [105]
started core service [/rosout]
process[run-2]: started with pid [108]
[run-2] process has finished cleanly
log file: /home/autoware/.ros/log/c5c1dc98-4693-11eb-94d6-9cb6d0e65079/run-2*.log

The screen came up.

About Autoware Docker

For some reason, when I stop the container or restart the PC, the Docker container disappears and I have to recreate it every time. Is that something like that? The file is shared between "~/shared_dir" on the host PC and "shared_dir" on the container.