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chalmersrevere/opendlv-sim-camera-nvidia

By chalmersrevere

•Updated over 6 years ago

A simulated camera (nvidia version)

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chalmersrevere/opendlv-sim-camera-nvidia repository overview

⁠OpenDLV microservice to simulate a camera

License: GPLv3

⁠Usage

To run this microservice using Docker start it as follows:

docker run --rm -ti --init --ipc=host --net=host -v ${PWD}/myMap:/opt/map -v /tmp:/tmp -e DISPLAY=$DISPLAY chalmersrevere/opendlv-sim-camera-mesa:v0.0.1 --cid=111 --frame-id=0 --map-path=/opt/map --x=0.0 --z=0.095 --width=1280 --height=720 --fovy=48.8 --freq=7 --verbose

for the mesa version, for Intel GPUs and software rendering (VirtualBox). To use the Nvidia version, run

docker run --rm -ti --init --ipc=host --net=host -v ${PWD}/myMap:/opt/map -v /tmp:/tmp -e DISPLAY=$DISPLAY chalmersrevere/opendlv-sim-camera-nvidia:v0.0.1 --cid=111 --frame-id=0 --map-path=/opt/map --x=0.0 --z=0.095 --width=1280 --height=720 --fovy=48.8 --freq=7 --verbose

To run a complete camera simulation using docker-compose:

version: "3.6"

services:
  sim-global:
    image: chalmersrevere/opendlv-sim-global-amd64:v0.0.6
    network_mode: "host"
    command: "/usr/bin/opendlv-sim-global --cid=111 --freq=20 --frame-id=0 --x=0.0 --yaw=0.2"

  sim-motor-kiwi:
    image: chalmersrevere/opendlv-sim-motor-kiwi-amd64:v0.0.6
    network_mode: "host"
    command: "/usr/bin/opendlv-sim-motor-kiwi --cid=111 --freq=50 --frame-id=0"

  sim-camera:
    container_name: sim-camera
    image: chalmersrevere/opendlv-sim-camera-mesa:v0.0.1
    ipc: "host"
    network_mode: "host"
    volumes:
      - ${PWD}/resource/example_map:/opt/map
      - /tmp:/tmp
    environment:
      - DISPLAY=${DISPLAY}
    command: "--cid=111 --frame-id=0 --map-path=/opt/map --x=0.0 --z=0.095 --width=1280 --height=720 --fovy=48.8 --freq=7 --verbose"

  kiwi-view:
    container_name: kiwi-view
    image: chalmersrevere/opendlv-vehicle-view-multi:v0.0.60
    restart: always
    network_mode: "host"
    volumes:
      - /home/pi/recordings:/opt/vehicle-view/recordings
      - /var/run/docker.sock:/var/run/docker.sock
    environment:
      - OD4SESSION_CID=111
      - OPENDLV_VEHICLE_VIEW_PLATFORM=Kiwi 
    ports:
      - "8081:8081"

Example to run two Kiwi cars in the same simulation (OD4 CIDs 111 and 112). Each car has its own web interface for control (ports 8081 and 8082), and one car has a simulated camera. Note the 'timemod' parameter, which makes the simulation run slower. This might be important for example when running on VirtualBox as it uses software rendering.

version: '2'

services:
  sim-global-1:
    image: chalmersrevere/opendlv-sim-global-amd64:v0.0.6
    network_mode: "host"
    command: "/usr/bin/opendlv-sim-global --cid=111 --freq=50 --timemod=0.2 --frame-id=0 --x=0.9 --y=1.6 --yaw=-3.14 --extra-cid-out=112:1"

  sim-motor-kiwi-1:
    image: chalmersrevere/opendlv-sim-motor-kiwi-amd64:v0.0.7
    network_mode: "host"
    command: "/usr/bin/opendlv-sim-motor-kiwi --cid=111 --freq=200 --timemod=0.2 --frame-id=0"

  sim-camera-1:
    container_name: sim-camera
    image: chalmersrevere/opendlv-sim-camera-mesa:v0.0.1
    ipc: "host"
    network_mode: "host"
    volumes:
      - ${PWD}/resource/example_map:/opt/map
      - /tmp:/tmp
    environment:
      - DISPLAY=${DISPLAY}
    command: "--cid=111 --frame-id=0 --map-path=/opt/map --x=0.0 --z=0.095 --width=1280 --height=720 --fovy=48.8 --freq=7 --timemod=0.2 --verbose"

  opendlv-kiwi-view-1:
    image: chrberger/opendlv-kiwi-view-webrtc-multi:v0.0.6
    network_mode: "host"
    volumes:
      - ~/recordings:/opt/vehicle-view/recordings
      - /var/run/docker.sock:/var/run/docker.sock
    environment:
      - PORT=8081
      - OD4SESSION_CID=111
      - PLAYBACK_OD4SESSION_CID=253

  
  sim-global-2:
    image: chalmersrevere/opendlv-sim-global-amd64:v0.0.6
    network_mode: "host"
    command: "/usr/bin/opendlv-sim-global --cid=112 --freq=50 --timemod=0.2 --frame-id=0 --x=1.9 --y=1.6 --yaw=-3.14 --extra-cid-out=111:1"

  sim-motor-kiwi-2:
    image: chalmersrevere/opendlv-sim-motor-kiwi-amd64:v0.0.7
    network_mode: "host"
    command: "/usr/bin/opendlv-sim-motor-kiwi --cid=112 --freq=200 --timemod=0.2 --frame-id=0"

  opendlv-kiwi-view-2:
    image: chrberger/opendlv-kiwi-view-webrtc-multi:v0.0.6
    network_mode: "host"
    volumes:
      - ~/recordings:/opt/vehicle-view/recordings
      - /var/run/docker.sock:/var/run/docker.sock
    environment:
      - PORT=8082
      - OD4SESSION_CID=112
      - PLAYBACK_OD4SESSION_CID=254

⁠License

  • This project is released under the terms of the GNU GPLv3 License

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Last updated

over 6 years ago

docker pull chalmersrevere/opendlv-sim-camera-nvidia:v0.0.1