LGSVL Simulator & ROS Melodic

Dockerfile

FROM nvidia/cudagl:10.0-devel-ubuntu18.04

ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# add new sudo user
ENV USERNAME lgsvl
ENV HOME /home/$USERNAME
RUN useradd -m $USERNAME && \
        echo "$USERNAME:$USERNAME" | chpasswd && \
        usermod --shell /bin/bash $USERNAME && \
        usermod -aG sudo $USERNAME && \
        mkdir /etc/sudoers.d && \
        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
        chmod 0440 /etc/sudoers.d/$USERNAME && \
        # Replace 1000 with your user/group id
        usermod  --uid 1000 $USERNAME && \
        groupmod --gid 1000 $USERNAME

ENV DEBIAN_FRONTEND noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
        sudo \
        less \
        emacs \
        tmux \
        bash-completion \
        command-not-found \
        software-properties-common \
        xsel \
        unzip \
        xdg-user-dirs \
        libgtk2.0-0 \
        wget \
        chromium-browser \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

RUN wget -qO - http://packages.lunarg.com/lunarg-signing-key-pub.asc | sudo apt-key add -
RUN wget -qO /etc/apt/sources.list.d/lunarg-vulkan-bionic.list http://packages.lunarg.com/vulkan/lunarg-vulkan-bionic.list
RUN apt-get update && apt-get install -y --no-install-recommends \
        vulkan-sdk \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

ADD "https://gitlab.com/nvidia/container-images/vulkan/-/raw/ubuntu18.04/nvidia_icd.json" /usr/share/vulkan/icd.d/nvidia_icd.json
RUN chmod 644 /usr/share/vulkan/icd.d/nvidia_icd.json

# ROS Melodic
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-melodic-desktop-full \
        python-rosinstall \
        python-rosinstall-generator \
        python-wstool \
        build-essential \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-melodic-rosbridge-server \
        ros-melodic-nmea-msgs \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

RUN rosdep init

USER $USERNAME
WORKDIR /home/$USERNAME
COPY lgsvlsimulator-linux64-2020.01.zip /home/$USERNAME/
RUN unzip lgsvlsimulator-linux64-2020.01.zip && \
    rm /home/$USERNAME/lgsvlsimulator-linux64-2020.01.zip

RUN rosdep update
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

launch_container.sh

#!/bin/sh

XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run --runtime=nvidia --privileged --rm -it \
           --volume=$XSOCK:$XSOCK:rw \
           --volume=$XAUTH:$XAUTH:rw \
           --volume=$HOME:$HOME \
           --shm-size=1gb \
           --env="XAUTHORITY=${XAUTH}" \
           --env="DISPLAY=${DISPLAY}" \
           --env=TERM=xterm-256color \
           --env=QT_X11_NO_MITSHM=1 \
           --net=host \
           lgsvl:melodic \
           bash

依存ソフトウェア

• NVIDIA Driver
• Docker
• NVIDIA Docker 2

前準備

https://www.lgsvlsimulator.com/ からlgsvlsimulator-linux64-2020.01.zipをダウンロードしてDockerfileと同じ階層に置きます．

Dockerイメージ作成

$ docker build -t lgsvl:melodic .

Dockerコンテナ起動

$ ./launch_container.sh

LGSVL Simulator起動

$ ./lgsvlsimulator-linux64-2020.01/simulator

を実行してLGSVL Simulatorを起動します

Web UI

• Web UIを使ってマップ，車両などの設定を行い，シミュレータに反映させます
• シミュレータの再生ボタンを押下します

ROS Bridge

$ roslaunch rosbridge_server rosbridge_websocket.launch

を実行してROS Bridgeを起動します（現状の設定だとautoware_msgsは購読できません）．
その後，Rvizなどでセンサデータを確認できます．