Create docker container to run CARLA server on GPU

[DanielCoelho112]

No description provided.

[DanielCoelho112]

Done.
This one was a bit tricky because in OpenSuse for the user to interact with NVIDIA files, the user must belong to root:video. Since this is different than other distros, I couldn't just use nvidia-docker to fix this. Following NVIDIA/nvidia-docker#657, I added more permissions on gpu devices:

sudo sed -i 's/660/666/g' /etc/modprobe.d/50-nvidia-default.conf
sudo /sbin/mkinitrd

After that, we need to run the server in the deeplar. For that first use ssh with tunneling:

ssh DanielCoelho11@193.137.172.109 -L 2000:localhost:2000 -L 2001:localhost:2001 -C -4

and then

 sudo docker run --privileged -d --gpus '"device=2"' --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:0.9.13 /bin/bash ./CarlaUE4.sh -RenderOffScreen -quality-level=low

The previous initializes the server, then we just have to connect via the python API:

python3 manual.control.py

and we get the following image:

We are getting around 50 fps in server and client which is very good. However the driving is laggy, I suspect it is due to the latency over ssh. I think this is not critical, because we are going to run the simulation synchronous mode, meaning that the client has total control over the time in the simulation.

[DanielCoelho112]

Compression mode in ssh (-C flag) helps to reduce the latency a bit. I was wondering if it wouldn't be possible to connect an ethernet cable directly to deeper and then run ssh. Is this possible?

[DanielCoelho112]

This morning I used a ethernet cable to connect to the deeplar and now we have a real-time driving:

https://uapt33090-my.sharepoint.com/:v:/g/personal/danielsilveiracoelho_ua_pt/EQJFi3Qe3e1NoKRipYXg3O8Bhr_DTT0zwEdBkIafq8VS7Q?e=J2Bsse

I had to configure my wired network using the following parameters:

Also, to run the server we shoudn't use the flag -C:

ssh DanielCoelho11@193.137.172.109 -L 2000:localhost:2000 -L 2001:localhost:2001 

The only problem is that the deeplar has only one ethernet port, which means that when I'm plugged in to test something in CARLA, the server goes offline.

@miguelriemoliveira, @vitoruapt should we use a switch? Or something else?

[miguelriemoliveira]

Hi @DanielCoelho112 ,

the video looks great.

I think we should buy a new gibabit ethernet card ... @vitoruapt , what do you say?

[vitoruapt]

I think we should buy a new gibabit ethernet card ... @vitoruapt , what do you say?

Sure... try to find one as soon as possible that fits in a free slot, and ask Rui Heitor to order it (Mbit is a suggestion)
We have a tight dead-line to close orders... a few days only!
Nice work... ;-)

[DanielCoelho112]

Hi @miguelriemoliveira, @vitoruapt

Today I tested the UBS-Ethernet conversor and everything works properly.
I added an additional ethernet interface eth1 with IP = 193.137.171.109 (I'll add this to the documentation).

Then I also configured the Steering Wheel to work with CARLA:
https://uapt33090-my.sharepoint.com/:v:/g/personal/danielsilveiracoelho_ua_pt/Eba9T-dD_ytAgw2DZdKJMv4B1JSME-LP-5JsbMxk2Cp5rg?e=wikAnd

[vitoruapt]

Very nice. I am glad the converter works. Was it easy to configure?
But, most of all: I want to play with the driving simulator kit as well ;-)

[miguelriemoliveira]

Looks great. The best part is the gigantic monitor in the back, unnused:)

…

On Tue, Nov 8, 2022, 6:38 PM Daniel Coelho ***@***.***> wrote: Hi @miguelriemoliveira <https://github.com/miguelriemoliveira>, @vitoruapt <https://github.com/vitoruapt> Today I tested the UBS-Ethernet conversor and everything works properly. I added an additional ethernet interface eth1 with IP = 193.137.171.109 (I'll add this to the documentation). Then I also configured the Steering Wheel to work with CARLA: https://uapt33090-my.sharepoint.com/✌️ /g/personal/danielsilveiracoelho_ua_pt/Eba9T-dD_ytAgw2DZdKJMv4B1JSME-LP-5JsbMxk2Cp5rg?e=wikAnd <https://uapt33090-my.sharepoint.com/:v:/g/personal/danielsilveiracoelho_ua_pt/Eba9T-dD_ytAgw2DZdKJMv4B1JSME-LP-5JsbMxk2Cp5rg?e=wikAnd> — Reply to this email directly, view it on GitHub <#8 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACWTHVQVP7OJOUOERJRRGULWHKMY3ANCNFSM6AAAAAARCDL3MU> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[DanielCoelho112]

Was it easy to configure?

Yes. The ethernet interface was recognized automatically.

The best part is the gigantic monitor in the back, unnused:)

Actually, I couldn't use the monitor this time. I had to use my ethernet cable which is only 3 meters and so I had to move closer to the DeepLar. I'll ask Eng. Rui a larger cable.

[miguelriemoliveira]

So a very big monitor defeated by a small cable ... the irony...

…

On Tue, Nov 8, 2022, 20:28 Daniel Coelho ***@***.***> wrote: Was it easy to configure? Yes. The ethernet interface was recognized automatically. The best part is the gigantic monitor in the back, unnused:) Actually, I couldn't use the monitor this time. I had to use my ethernet cable which is only 3 meters and so I had to move closer to the DeepLar. I'll ask Eng. Rui a larger cable. — Reply to this email directly, view it on GitHub <#8 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACWTHVTN6DBBSGC5K7QTJRLWHKZWNANCNFSM6AAAAAARCDL3MU> . You are receiving this because you were mentioned.Message ID: ***@***.***>