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docs(openadkit): simplify the readme (#4526)
* Simplify the readme Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com> * Update docker/README.md Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com> * fix documentation to pass spellcheck Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com> --------- Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com> Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com> Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com>
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| # Open AD Kit: Containerized Workloads for Autoware | ||
| # Open AD Kit: containerized workloads for Autoware | ||
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| Open AD Kit offers two types of Docker image to let you get started with Autoware quickly: `devel` and `runtime`. | ||
| [Open AD Kit](https://autoware.org/open-ad-kit/) offers containers for Autoware to simplify the development and deployment of Autoware and its dependencies. This directory contains scripts to build and run the containers. | ||
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| 1. The `devel` image enables you to develop Autoware without setting up the local development environment. | ||
| 2. The `runtime` image contains only runtime executables and enables you to try out Autoware quickly. | ||
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| !!! info | ||
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| Before proceeding, confirm and agree with the [NVIDIA Deep Learning Container license](https://developer.nvidia.com/ngc/nvidia-deep-learning-container-license). By pulling and using the Autoware Open AD Kit images, you accept the terms and conditions of the license. | ||
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| ## Prerequisites | ||
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| - Docker | ||
| - NVIDIA Container Toolkit (preferred) | ||
| - NVIDIA CUDA 12 compatible GPU Driver (preferred) | ||
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| The [setup script](../setup-dev-env.sh) will install all required dependencies with the setup script: | ||
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| ```bash | ||
| ./setup-dev-env.sh -y docker | ||
| ``` | ||
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| To install without **NVIDIA GPU** support: | ||
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| ```bash | ||
| ./setup-dev-env.sh -y --no-nvidia docker | ||
| ``` | ||
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| !!! info | ||
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| GPU acceleration is required for some features such as object detection and traffic light detection/classification. For details of how to enable these features without a GPU, refer to the [Running Autoware without CUDA](../how-to-guides/others/running-autoware-without-cuda.md). | ||
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| ## Usage | ||
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| ### Runtime | ||
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| You can use `run.sh` to run the Autoware runtime container with the map data: | ||
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| ```bash | ||
| ./docker/run.sh --map-path path_to_map_data | ||
| ``` | ||
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| !!! info | ||
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| You can use `--no-nvidia` to run without NVIDIA GPU support, and `--headless` to run without display that means no RViz visualization. | ||
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| For more launch options you can edit the launch command with `--launch-cmd` option: | ||
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| ```bash | ||
| ./docker/run.sh --map-path path_to_map_data --launch-cmd "ros2 launch autoware_launch autoware.launch.xml map_path:=/autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit" | ||
| ``` | ||
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| #### Run Autoware simulator | ||
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| Inside the container, you can run the Autoware simulation by following these tutorials: | ||
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| [Planning Simulation](../../tutorials/ad-hoc-simulation/planning-simulation.md) | ||
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| [Rosbag Replay Simulation](../../tutorials/ad-hoc-simulation/rosbag-replay-simulation.md). | ||
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| ### Development Environment | ||
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| You can use [VS Code Remote Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) to develop Autoware in the containerized environment with ease. Or you can use `run.sh` manually to run the Autoware development container with the workspace mounted. | ||
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| #### Using VS Code Remote Containers for Development | ||
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| Get the Visual Studio Code's [Remote - Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension. | ||
| And reopen the workspace in the container by selecting `Remote-Containers: Reopen in Container` from the Command Palette (`F1`). | ||
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| Autoware and Autoware-cuda are available containers for development. | ||
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| If you want to use CUDA supported dev container, you need to install the NVIDIA Container Toolkit before opening the workspace in the container: | ||
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| ```bash | ||
| # Add NVIDIA container toolkit GPG key | ||
| sudo apt-key adv --fetch-keys https://nvidia.github.io/libnvidia-container/gpgkey | ||
| sudo gpg --no-default-keyring --keyring /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg --import /etc/apt/trusted.gpg | ||
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| # Add NVIDIA container toolkit repository | ||
| echo "deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://nvidia.github.io/libnvidia-container/stable/deb/$(dpkg --print-architecture) /" | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list | ||
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| # Update the package list | ||
| sudo apt-get update | ||
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| # Install NVIDIA Container Toolkit | ||
| sudo apt-get install -y nvidia-container-toolkit | ||
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| # Add NVIDIA runtime support to docker engine | ||
| sudo nvidia-ctk runtime configure --runtime=docker | ||
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| # Restart docker daemon | ||
| sudo systemctl restart docker | ||
| ``` | ||
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| Then, you can use the `Remote-Containers: Reopen in Container` command to open the workspace in the container. | ||
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| #### Using `run.sh` for Development | ||
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| ```bash | ||
| ./docker/run.sh --devel --workspace path_to_workspace | ||
| ``` | ||
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| !!! info | ||
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| You should mount the workspace you are working on with `--workspace path_to_workspace`. For a development environment without NVIDIA GPU support use `--no-nvidia`. | ||
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| #### Creating a new workspace | ||
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| If you don't have a workspace yet, you can create a new workspace with following steps: | ||
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| 1. Create the `src` directory and clone repositories into it. | ||
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| ```bash | ||
| mkdir src | ||
| vcs import src < autoware.repos | ||
| ``` | ||
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| 2. Update dependent ROS packages. | ||
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| The dependency of Autoware may change after the Docker image was created. | ||
| In that case, you need to run the following commands to update the dependency. | ||
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| ```bash | ||
| sudo apt update | ||
| rosdep update | ||
| rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO | ||
| ``` | ||
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| 3. Build the workspace. | ||
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| ```bash | ||
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | ||
| ``` | ||
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| If there is any build issue, refer to [Troubleshooting](../../support/troubleshooting/index.md#build-issues). | ||
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| > **To Update the Workspace** | ||
| > | ||
| > ```bash | ||
| > cd autoware | ||
| > git pull | ||
| > vcs import src < autoware.repos | ||
| > vcs pull src | ||
| > ``` | ||
| ## Building Docker images from scratch | ||
| If you want to build these images locally for development purposes, run the following command: | ||
| ```bash | ||
| cd autoware/ | ||
| ./docker/build.sh | ||
| ``` | ||
| To build without CUDA, use the `--no-cuda` option: | ||
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| ```bash | ||
| ./docker/build.sh --no-cuda | ||
| ``` | ||
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| To build only development image, use the `--devel-only` option: | ||
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| ```bash | ||
| ./docker/build.sh --devel-only | ||
| ``` | ||
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| To specify the platform, use the `--platform` option: | ||
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| ```bash | ||
| ./docker/build.sh --platform linux/amd64 | ||
| ./docker/build.sh --platform linux/arm64 | ||
| ``` | ||
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| ### Using Docker images other than `latest` | ||
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| There are also images versioned based on the `date` or `release tag`. | ||
| Use them when you need a fixed version of the image. | ||
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| The list of versions can be found [here](https://github.com/autowarefoundation/autoware/packages). | ||
| Detailed instructions on how to use the containers can be found in the [Open AD Kit documentation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/). |