MRM Demo Instructions

mrm_instructions.md

Preparation

Docker Install

ref: https://docs.docker.com/engine/install/ubuntu/

#### Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl
sudo install -m 0755 -d /etc/apt/keyrings
sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
sudo chmod a+r /etc/apt/keyrings/docker.asc

#### Add the repository to Apt sources:
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

#### Install docker
sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

#### Add user group
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

If it's your first time to install docker, you might have to reboot the system once to apply the user group settings.

sudo reboot

Getting scenarios

Download scenario file and map files from https://drive.google.com/file/d/1httYKgKpVUCIpKuX3Vgk_5wfIgr9dv8s/view?usp=sharing and extract the zip file.

Download a custom launch file for running with actuation modules.

wget https://gist.githubusercontent.com/mitsudome-r/8525fdf8a9dac7ee901178d8ee571619/raw/817df9660f104084e1f9187eb763bad2cc19047d/control.launch.xml

Terminal 1 (Visualization Container)

docker run --name visualizer --rm --net=host -p 6080:6080 \
-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
-e ROS_DOMAIN_ID=2 \
-e USE_SIM_TIME=true \
ghcr.io/mitsudome-r/mrm-demo:visualizer-amd64

Open browser and access http://127.0.0.1:6080/vnc.html?resize=scale&password=openadkit&autoconnect=true

Terminal 2 (Planning-Control Container) Before Scenario

Make sure that the path given after -v is the path to the fault injection folder that you downloaded in preparation. The instruction assumes that you downloaded the fault injection folder under $HOME/Downloads/fault_injection and the launch file under $HOME/Downloads/control.launch.xml.

If you want to run without the actuation module, remove -v $HOME/Downloads/control.launch.xml:/opt/autoware/share/tier4_control_launch/launch/control.launch.xml from the command.

docker run -it --name planning --rm --net=host \
  -e ROS_DOMAIN_ID=2 \
  -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
  -v $HOME/Downloads/fault_injection_v2:/autoware/scenario-sim \
  -v $HOME/Downloads/control.launch.xml:/opt/autoware/share/tier4_control_launch/launch/control.launch.xml \
  ghcr.io/mitsudome-r/mrm-demo:universe-before-arm64 \
  bash -c 'ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware/scenario-sim/map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit scenario_simulation:=true rviz:=false use_sim_time:=false'

Terminal 1 (Planning-Control Container) After Scenario

Make sure that the path given after -v is the path to the fault injection folder that you downloaded in preparation. The instruction assumes that you downloaded the fault injection folder under $HOME/Downloads/fault_injection and the launch file under $HOME/Downloads/control.launch.xml.

If you want to run without the actuation module, remove -v $HOME/Downloads/control.launch.xml:/opt/autoware/share/tier4_control_launch/launch/control.launch.xml from the command.

docker run -it --name planning --rm --net=host \
-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
-e ROS_DOMAIN_ID=2 \
-v $HOME/Downloads/fault_injection_v2:/autoware/scenario-sim \
-v  $HOME/Downloads/control.launch.xml:/opt/autoware/share/tier4_control_launch/launch/control.launch.xml \
ghcr.io/mitsudome-r/mrm-demo:universe-after-arm64 \
bash -c 'ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware/scenario-sim/map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit scenario_simulation:=true rviz:=false use_sim_time:=false'

Terminal 3 (Simulator Container)

docker run -it --name simulator --rm --net=host \
-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
-e ROS_DOMAIN_ID=2 \
-e SCENARIO=/autoware/scenario-sim/mrm-scenario.yml \
-v $HOME/Downloads/fault_injection_v2:/autoware/scenario-sim \
ghcr.io/mitsudome-r/mrm-demo:scenario-simulator-arm64

Troubleshooting

Cannot stop planning container

If you cannot stop the planning container with CTRL+C, run the following commands to stop the container:

# find the id for the planning container
docker ps

# stop the container (modify "ID" with the actual string of ID you find from the above command)
docker container stop ID 

# you can also stop all containers with the following command
docker stop $(docker ps -aq)

Creating the images locally

You can create your own image by the following commands:

Before scenario

git clone github.com:mitsudome-r/autoware.git -b mrm-demo-before

cd autoware

./docker/build.sh

After Scenario

git clone github.com:mitsudome-r/autoware.git -b mrm-demo

cd autoware

./docker/build.sh