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View Code? Open in Web Editor NEWLunarSim: Lunar Rover Simulator Focused on High Visual Fidelity and ROS 2 Integration for Advanced Computer Vision Algorithm Development
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Problem Running the simulation
Hey,
First, thank you so much for a very easy-to-use, dockerised setup to run simulations on the lunar environment. However, in trying to make it run, I have a small difficulty you could maybe help me with.
I run the executable provided from within the docker environment, the screen is rendered successfully with the unity engine.
However, I am not able to read any of the topics through rviz or even through a ros2 topic echo after attaching to the container and sourcing the environment in a different terminal.There is also no movement if I publish on the cmd_vel topic.Please let me know if there is a gap in my understanding w.r.t Ros2 I'm somewhat of a newbie.
Thanks for the amazing work though!
Tested on Ubuntu 18
GPU Nvidia-1650 (doesn't seem to be used)
`run.sh`: non-network local connections, and docker: unknown or invalid runtime name: nvidia.
First of all Great work! @bartoszptak and @dpieczynski
I am trying to have a go to your work but I get this one:
bash ./run.sh
non-network local connections being added to access control list
docker: Error response from daemon: unknown or invalid runtime name: nvidia.
See 'docker run --help'.
I successfully built docker tagged lunarsim:latest . Also installed nvidia-docker2 and nvidia-container-toolkit in my Ubuntu 20.04x64 machine which does NOT have a GPU.
sudo apt-get install -y nvidia-container-toolkit
sudo apt install -y nvidia-docker2
sudo systemctl daemon-reload
sudo systemctl restart docker
Do you have any advice? Do I need to have a machine with GPU as a requirement?
Thanks, Miguel
PS. Happy to create a PR to improve reproducibility :)
Simulation failed to run within container
Hi,
Thank you for the hard work.
I recently try to give this project a try and been running into a problem.
This is my setup:
- Ubuntu 18.04.6 LTS
- NVIDIA RTX 3080
I have setup docker and been successfully run the ros2 container following this tutorial .
I have also installed nvidia-docker2 and nvidia-container-toolkit using
sudo apt-get install -y nvidia-container-toolkit
sudo apt install -y nvidia-docker2
sudo systemctl daemon-reload
sudo systemctl restart docker
To double check the nvidia-driver is working, I ran nvidia-smi
(base) lagerprocessor@lagerprocessor:~/Projects/LunarSim$ nvidia-smi
Wed Jun 19 17:44:55 2024
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 470.223.02 Driver Version: 470.223.02 CUDA Version: 11.4 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA GeForce ... Off | 00000000:B3:00.0 On | N/A |
| 0% 49C P8 47W / 320W | 1072MiB / 10008MiB | 1% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1946 G /usr/bin/gnome-shell 127MiB |
| 0 N/A N/A 2947 G /usr/lib/xorg/Xorg 28MiB |
| 0 N/A N/A 3154 G /usr/bin/gnome-shell 204MiB |
| 0 N/A N/A 3547 G /usr/lib/firefox/firefox 271MiB |
| 0 N/A N/A 7416 G /usr/lib/xorg/Xorg 218MiB |
| 0 N/A N/A 7623 G /usr/bin/gnome-shell 46MiB |
| 0 N/A N/A 8116 G /usr/lib/firefox/firefox 149MiB |
+-----------------------------------------------------------------------------+
The lunarsim:latest docker is also built successfully with the following return
[+] Building 0.5s (17/17) FINISHED
=> [internal] load build definition from Dockerfile 0.0s
=> => transferring dockerfile: 2.09kB 0.0s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> [internal] load metadata for docker.io/library/ubuntu:22.04 0.4s
=> [ 1/13] FROM docker.io/library/ubuntu:22.04@sha256:19478ce7fc2ffbce89df29fea5725a8d12e57de52eb9ea570890dc5852aac1ac 0.0s
=> CACHED [ 2/13] RUN ln -snf /usr/share/zoneinfo/Europe/Warsaw /etc/localtime && echo Europe/Warsaw > /etc/timezone 0.0s
=> CACHED [ 3/13] RUN apt clean 0.0s
=> CACHED [ 4/13] RUN apt update && apt install -y --no-install-recommends ca-certificates devilspie gnupg2 mesa-utils sudo unzip wget xfce 0.0s
=> CACHED [ 5/13] RUN apt install nvidia-driver-525 -y 0.0s
=> CACHED [ 6/13] RUN apt-get install -y libglu1 xvfb libxcursor1 libvulkan1 mesa-vulkan-drivers vulkan-tools -y 0.0s
=> CACHED [ 7/13] RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 0.0s
=> CACHED [ 8/13] RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) 0.0s
=> CACHED [ 9/13] RUN apt update -y && apt install -y ros-humble-desktop 0.0s
=> CACHED [10/13] RUN touch /root/.bashrc && echo "echo '|======================================================|'" >> /root/.bashrc && echo "echo '| DO NOT SOURCE ROS IN TERMINAL WHERE YOU RUN LUNARSI 0.0s
=> CACHED [11/13] RUN mkdir -p /root/lunarsim 0.0s
=> CACHED [12/13] RUN wget "https://github.com/PUTvision/LunarSim/releases/latest/download/LunarSim.tar.xz" && cd /root/lunarsim && tar xf /LunarSim.tar.xz && rm -f /LunarSim.tar.xz && chmod +x /root 0.0s
=> CACHED [13/13] WORKDIR /root/lunarsim 0.0s
=> exporting to image 0.0s
=> => exporting layers 0.0s
=> => writing image sha256:fe5236bd0327f4c94120aad4abca99bae9592c134d09806371ef8354852faa48 0.0s
=> => naming to docker.io/library/lunarsim:latest
Now to run the simulation, I run
bash ./run_once.sh
Then within the container, I start the sim and receive the following text
root@lagerprocessor:~/lunarsim# ./LunarSim.x86_64
[UnityMemory] Configuration Parameters - Can be set up in boot.config
"memorysetup-bucket-allocator-granularity=16"
"memorysetup-bucket-allocator-bucket-count=8"
"memorysetup-bucket-allocator-block-size=4194304"
"memorysetup-bucket-allocator-block-count=1"
"memorysetup-main-allocator-block-size=16777216"
"memorysetup-thread-allocator-block-size=16777216"
"memorysetup-gfx-main-allocator-block-size=16777216"
"memorysetup-gfx-thread-allocator-block-size=16777216"
"memorysetup-cache-allocator-block-size=4194304"
"memorysetup-typetree-allocator-block-size=2097152"
"memorysetup-profiler-bucket-allocator-granularity=16"
"memorysetup-profiler-bucket-allocator-bucket-count=8"
"memorysetup-profiler-bucket-allocator-block-size=4194304"
"memorysetup-profiler-bucket-allocator-block-count=1"
"memorysetup-profiler-allocator-block-size=16777216"
"memorysetup-profiler-editor-allocator-block-size=1048576"
"memorysetup-temp-allocator-size-main=4194304"
"memorysetup-job-temp-allocator-block-size=2097152"
"memorysetup-job-temp-allocator-block-size-background=1048576"
"memorysetup-job-temp-allocator-reduction-small-platforms=262144"
"memorysetup-temp-allocator-size-background-worker=32768"
"memorysetup-temp-allocator-size-job-worker=262144"
"memorysetup-temp-allocator-size-preload-manager=262144"
"memorysetup-temp-allocator-size-nav-mesh-worker=65536"
"memorysetup-temp-allocator-size-audio-worker=65536"
"memorysetup-temp-allocator-size-cloud-worker=32768"
"memorysetup-temp-allocator-size-gfx=262144"
root@lagerprocessor:~/lunarsim#
It seems like the GUI failed to open? I also receive an error code for "Segmentation Fault: Core Dumped" but I have yet to replicate that.
I would appreciate any pointers on how to resolve this or how to start logging more thing to hopefully help with debugging.
Thanks
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