Autoware Mini Docker

This repo provides a dockerized deployment of autoware mini with carla and is based on the code here.

Prerequisite

Install docker compose. Then download repositories which will be later mounted or copied into the containers.

1. Download Tartu.tar.gz and place it inside carlar0_9_13 folder
2. Download Carla 0.9.13 and extract PythonAPI folder and place it inside autoware_mini/CARLA_ROOT/
3. Download Autoware Mini and place it inside autoware_mini/AUTOWARE_MINI/
4. Download Scenario Runner and place it in autoware_mini/SCENARIO_RUNNER/ using:

git clone -b route_scenario https://github.com/UT-ADL/scenario_runner.git

Upgrade shapely version from requirements.txt file in scenario runner to 2.0, because this is the minimum shapely version autoware mini supports.

To build containers

docker compose up --build

To run carla sim

docker compose up carla_sim

If the docker-based carla deployment does not work, start CARLA on your host. Extract the CARLA 0.9.13 archive to /home/carla/ and execute the following commands manually once inside the folder.

cp <path to Tartu.tar.gz> /home/carla/Import
chmod +x ./ImportAssets.sh
bash ./ImportAssets.sh

Start then the carla server in one terminal:

bash ./CarlaUE4.sh -RenderOffScreen --world-port=2000

To run autoware mini

Open another terminal and run:

docker compose up autoware_mini

To customize starting script for autoware_mini

Update the command declaration for starting the container in the docker compose file. The default command launches autoware_mini integrated with carla.

version: '3.1'
services:
  autoware_mini:
    stdin_open: true
    command:
      - "bash"
      - "-c"
      - >
        source /opt/catkin_ws/devel/setup.bash &&
        roslaunch autoware_mini start_carla.launch

You can update the command to activate the scenario_runner.

version: '3.1'
services:
  autoware_mini:
    stdin_open: true
    command:
      - "bash"
      - "-c"
      - >
        source /opt/catkin_ws/devel/setup.bash &&
        roslaunch autoware_mini start_carla.launch use_scenario_runner:=true

Consider available starting options explained in the autoware mini docs.

FAQs

• Check that the DISPLAY variable is correctly set.
• Check that permission are available to acces display. Give access by:

xhost +local:

• In case of problems accessing the GPU from the container, make sure that the nvidia container toolkit is installed and nvidia drivers are up-to-date.

TODO

For development don´t copy repos, but mount them through volumes.

Support

Lev Sorokin ([email protected])