avpg/mavs repository overview

⁠Michigan Autonomous Vehicles

This software simulates autonomous vehicles within a ROS environment.

⁠Documentation

STABLE⁠ — most recently tagged version of the documentation.

LATEST⁠ — in-development version of the documentation.

⁠Installation Instructions

These instructions depend on your machine's configuration.

⁠Step 1, Install Docker

Remove any old versions of docker if they are on your machine:

sudo apt-get remove docker docker-engine docker.io

Update the apt package index:

sudo apt-get update

Install the packages to allow apt to use a repository through HTTPS:

sudo apt-get install \
   apt-transport-https \
   ca-certificates \
   curl \
   software-properties-common

Add the official GPG key of Docker:

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -

Verify that the command below print out 9DC8 5822 9FC7 DD38 854A E2D8 8D81 803C 0EBF CD88:

sudo apt-key fingerprint 0EBFCD88

Tell apt to use the stable repository by running the command below:

sudo add-apt-repository \
   "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
   $(lsb_release -cs) \
   stable"

Update the apt package index and install Docker CE:

sudo apt-get update && apt-get install docker-ce

Check installation of docker:

docker run hello-world

⁠Step 2, Update NVIDIA Driver

Use the CUDA 10.1 Toolkit⁠ to install CUDA. An example of using this toolkit follows.

After the download is complete, cd into your ~\Downloads folder and follow the installation instructions provided by the toolkit to install CUDA:

sudo dpkg -i $HOME/Downloads/cuda-repo-ubuntu1604-10-1-local-10.1.105-418.39_1.0-1_amd64.deb
sudo apt-key add /var/cuda-repo-<version>/7fa2af80.pub
sudo apt-get update
sudo apt-get install cuda

Note: After you follow the first instruction, the <version> in the second instruction will be provided. For instance, in this example:

$HOME/Downloads/cuda-repo-ubuntu1604-10-1-local-10.1.105-418.39_1.0-1_amd64.deb

Produces:

Selecting previously unselected package cuda-repo-ubuntu1604-10-1-local-10.1.105-418.39.
(Reading database ... 551128 files and directories currently installed.)
Preparing to unpack .../cuda-repo-ubuntu1604-10-1-local-10.1.105-418.39_1.0-1_amd64.deb ...
Unpacking cuda-repo-ubuntu1604-10-1-local-10.1.105-418.39 (1.0-1) ...
Setting up cuda-repo-ubuntu1604-10-1-local-10.1.105-418.39 (1.0-1) ...

The public CUDA GPG key does not appear to be installed.
To install the key, run this command:
sudo apt-key add /var/cuda-repo-10-1-local-10.1.105-418.39/7fa2af80.pub

Thus add the key as instructed, before proceeding with the final instructions.

Reboot your computer and verify that the NVIDIA graphics driver can be loaded

⁠Step 3, [Install NVIDIA-docker](https://chunml.github.io/ChunML.github.io/project/Installing-NVIDIA-Docker-On-Ubuntu-16.04/⁠

) If installed, remove NVIDIA docker 1.0:

docker volume ls -q -f driver=nvidia-docker | xargs -r -I{} -n1 docker ps -q -a -f volume={} | xargs -r docker rm -f
sudo apt-get purge -y nvidia-docker

Add the necessary repositories and update the apt package index:

curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | \
  sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/ubuntu16.04/amd64/nvidia-docker.list | \
  sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update

Install NVIDIA docker:

sudo apt-get install -y nvidia-docker2
sudo pkill -SIGHUP dockerd

Test NVIDIA docker installation:

docker run --runtime=nvidia --rm nvidia/cuda nvidia-smi

⁠Step 4, Install MAVs

1. Make a directory to store MAVs in, e.g., $HOME/Documents/workspace/MAVs. cd into that directory.

2. Clone the develop branch of the repository

git clone -b develop https://github.com/JuliaMPC/MAVs

1. Build image

sh build.sh

1. Test MAVs

First start Docker container in the MAVs folder:

./run.sh

Then, the most basic usage of MAVs is simply running the demos. For instance, demoA can be run as:

$roslaunch system demoA.launch

⁠Tests

Unfortunately this software stack exceeds the time limit on Docker as well as Travis services (~45 min). So, while these services are configured, they cannot be utilized.
Docker Hub repo⁠