Installing simulation environment¶

Dependencies¶

• Python3 with setuptools, docopt, numpy, pyaml, rospkg, catkin_pkg
• Eigen3
• GDAL (version > 2)
• CMake
• libglew, libglew-dev
• ROS kinetic (on ubuntu: ros-kinetic-desktop ros-kinetic-tf2-eigen)
• Blender
• A c++14 compatible compiler

On own computer¶

Make sure ROS environment is sourced, then:

git clone ssh://git@redmine.laas.fr/laas/users/simon/agridrone/precidrones-main.git && cd precidrones-main/dev && rsync -r /net/skyscanner/volume1/data/precidrone/IGN . && make world

And make sure to import the morse simulations before using them, for example (in the precidrones-main/dev folder):

morse import morse/preci1

On LXD vm¶

Install and configure lxd:

sudo snap install --edge lxd
sudo lxd init

Lxd will ask for configuration, I used:

• clustering: no
• new storage pool: yes
• name: default
• type: zfs
• create new zfs pool: yes
• use existing block device: no
• size in GB of the new loop device: 40
• connect to a MAAS server: no
• create local network bridge: yes
• bridge name: lxdbr0
• ipv4 address: auto
• ipv6 address: auto
• LXD availqble over the network: yes
• address to bind lxd to: all
• port: 8443
• trust password: <password>
• auto update stale cached images: yes
• print YAML lxd preseed: yes

Creating the container:

sudo lxc launch ubuntu:16.04 precidrone-sim

Install nvidia container runtime (see github ):

distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-container-runtime/$distribution/nvidia-container-runtime.list | sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list
sudo apt install nvidia-container-runtime

Configuring the container:

sudo lxc config device add precidrone-sim nvgpu gpu
sudo lxc config set precidrone-sim nvidia.runtime true
sudo lxc config device add precidrone-sim X0 disk path=/tmp/.X11-unix/X0 source=/tmp/.X11-unix/X0
sudo lxc config device add precidrone-sim Xauthority disk path=/home/ubuntu/.Xauthority source=${HOME}/.Xauthority
sudo lxc config device add precidrone-sim precidrone-simroot disk source=/net/skyscanner/volume1/data/precidrone path=/home/ubuntu/sim
printf "uid $(id -u) 1000\ngid $(id -g) 1000" | sudo lxc config set precidrone-sim raw.idmap -
sudo lxc restart precidrone-sim

Then open shell in the container:

sudo lxc exec precidrone-sim -- sudo -i -u ubuntu

Installing dependencies:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update
sudo apt install ros-kinetic-ros-base ros-kinetic-tf2-eigen
sudo apt install python3-pip python3-setuptools python3-docopt python3-numpy python3-yaml
sudo apt install libglew1.13 libglew-dev
sudo apt install blender

If necessary compile sim source:

cd sim/precidrones-main/dev
make -j8

Bedore running the simulation, export display variable (you can put it in the .bashrc or .profile):

export DISPLAY=:0