Installing simulation environment » History » Revision 27
Revision 26 (Christophe Reymann, 2018-05-18 16:27) → Revision 27/49 (Christophe Reymann, 2018-05-18 16:47)
h1. Installing simulation environment
h2. 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
h2. On own computer
Make sure ROS environment is sourced, then:
<pre>
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
</pre>
And make sure to import the morse simulations before using them, for example (in the precidrones-main/dev folder):
<pre>
morse import morse/preci1
</pre>
h3. On LXD vm
Install and configure lxd:
<pre>
sudo snap install --edge lxd
sudo lxd init
</pre>
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:
<pre>
sudo lxc launch ubuntu:16.04 precidrone-sim
</pre>
Install nvidia container runtime (see github ):
<pre>
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-container-runtime/$distribution/nvidia-container-runtime.list | sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list
sudo apt install nvidia-container-runtime
</pre>
Configuring the container:
<pre>
sudo lxc config device add precidrone-sim nvgpu gpu
sudo lxc config set precidrone-sim nvidia.runtime true
sudo lxc config device add precidrone-sim X0 disk path=/tmp/.X11-unix/X0 source=/tmp/.X11-unix/X0
sudo lxc config device add precidrone-sim Xauthority disk path=/home/ubuntu/.Xauthority source=${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
</pre>
Then open shell in the container:
<pre>
sudo lxc exec precidrone-sim -- sudo -i -u ubuntu
</pre>
Installing dependencies:
<pre>
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
</pre>
A new enough version of GDAL >2 doesn't ship with ubuntu 16.04, you can do
<pre>
sudo add-apt-repository -y ppa:ubuntugis/ppa TODO
sudo apt update
sudo apt install libgdal20 libgdal-dev
</pre>
If necessary compile sim source:
<pre>
cd sim/precidrones-main/dev
make DEVEL=t INSTALL_USER=t CMAKE_BUILD_TYPE=Release -j8
</pre>
Bedore running the simulation, export display variable (you can put it in the .bashrc or .profile):
<pre>
export DISPLAY=:0
</pre>
Only one container has to be setup, then it can simply be copied accross machines:
<pre>
TODO
</pre>