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fred-labs committed Mar 1, 2024
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How to run
==========

With devcontainer
-----------------

Preparations
~~~~~~~~~~~~

If not already installed, install the docker engine on your system
according to the `installation
instructions <https://docs.docker.com/engine/install/>`__ or, if you
need GPU support, follow the `nvidia installation
instructions <https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html>`__.
The recommended nvidia driver package is ``nvidia-driver-525``.

Make sure you follow the `post installation
steps <https://docs.docker.com/engine/install/linux-postinstall/>`__.

Post-installation, you need to configure the proxy behavior of the
docker daemon:

.. code-block:: bash
sudo mkdir -p /etc/systemd/system/docker.service.d
sudo echo -e "[Service]\nEnvironment="HTTP_PROXY=http://proxy-chain.intel.com:911"\nEnvironment="HTTPS_PROXY=http://proxy-chain.intel.com:912"\nEnvironment="NO_PROXY=*.intel.com,127.0.0.0/8,localhost,127.0.0.1"" > /etc/systemd/system/docker.service.d/http-proxy.conf
sudo systemctl -q daemon-reload
sudo systemctl -q restart docker
To make sure, that the docker daemon is properly set up, run

.. code-block:: bash
docker run hello-world
Install additional packages to build amsrl containers (buildkit).

.. code-block:: bash
sudo apt install docker-buildx-plugin
Follow these
`instructions <https://intel.sharepoint.com/sites/caascustomercommunity/SitePages/CaaS%20-%20Containers%20as%20a%20Service/News1915835.aspx#>`__
for using the Intel image registry.

Particularly, install the Intel internal CAs following these
`instructions <https://github.intel.com/CaaS/public/blob/master/ca_install.md>`__.
Now, you should be ready to login to be able to pull docker images.

.. code-block:: bash
docker login ger-registry-pre.caas.intel.com
.. note::
In case you want to use the devcontainer with `Visual Studio
Code <https://code.visualstudio.com/>`__, you also need to install
docker-compose via

.. code-block:: bash
sudo apt update
sudo apt install docker-compose
Run devcontainer from terminal
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Prior to the actual start of the container, run

.. code-block:: bash
xhost + local:ros
To start the devcontainer without GPU-support, run the following command
*from the root directory of this repository*

.. code-block:: bash
bash containers/run_cpu.sh
To start the devcontainer with GPU-support, run the following command
*from the root directory of this repository*

.. code-block:: bash
bash containers/run_gpu.sh
Inside the devcontainer, you can now safely run and test your
development, e.g., run

.. code-block:: bash
ros2 run scenario_execution scenario_execution scenario_execution_base/scenarios/demo_wait_and_log.osc -t
For a more sophisticated example using a simulated
`Turtlebot4 <https://turtlebot.github.io/turtlebot4-user-manual/>`__ and
`Nav2 <https://navigation.ros.org/>`__, run

.. code-block:: bash
ros2 launch scenario_execution_tutorials turtlebot4_simulation_nav2_to_pose_tutorial_launch.py headless:=False
and you should something like this

.. figure:: images/tb4_scenario.gif
:alt: turtlebot4 nav2 scenario

turtlebot4 nav2 scenario

In case you need an additional terminal inside your running
devcontainer, run

.. code-block:: bash
bash containers/exec.sh
When you are done with testing, please run

.. code-block:: bash
xhost - local:ros
Run devcontainer from Visual Studio Code
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. note::
Make sure you have installed the necessary VS Code extensions, namely
the `docker extension <https://code.visualstudio.com/docs/containers/overview>`__ as
well as the `Dev
Container <https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers>`__
extension.

Open the root folder of this repository in Visual Studio Code
and click the blue item in the lower left corner

.. figure:: images/graphs/vscode1.png
:alt: vscode1


Afterwards, select “Reopen in Container” in the Selection Window inside
VS Code

.. figure:: images/graphs/vscode2.png
:alt: vscode2


Now VS Code should open your current working directory inside the
devcontainer. If you now open a terminal inside VS Code, you can run and
test your development safely inside the container, e.g., run

.. code-block:: bash
ros2 run scenario_execution scenario_execution scenario_execution_base/scenarios/demo_wait_and_log.osc -t
For a more sophisticated example using a simulated
`Turtlebot4 <https://turtlebot.github.io/turtlebot4-user-manual/>`__ and
`Nav2 <https://navigation.ros.org/>`__, run

.. code-block:: bash
ros2 launch scenario_execution_tutorials turtlebot4_simulation_nav2_to_pose_tutorial_launch.py headless:=False
and you should something like this

.. figure:: images/tb4_scenario.gif
:alt: turtlebot4 nav2 scenario

turtlebot4 nav2 scenario

Once you are done, you can cancel the remote connection, by again
clicking on the blue item in the lower left corner and select “Close
Remote Connection”

.. figure:: images/graphs/vscode3.png
:alt: vscode3


With local installation
-----------------------

First, build the packages:

.. code-block:: bash
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