Merge pull request #74 from usdot-fhwa-stol/feature/merge_1.0_to_master

Feature/merge 1.0 to master

.circleci/config.yml

@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-3.4.0
+      - image: usdotfhwastoldev/carma-base:develop
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build

.sonarqube/sonar-scanner.properties

@@ -26,13 +26,14 @@ sonar.scm.provider=git
 sonar.cfamily.cache.enabled=false
 
 # Modules
-sonar.modules=carla_ackermann_control_wrapper
+#sonar.modules=carla_ackermann_control_wrapper
 
-carla_ackermann_control_wrapper.sonar.projectBaseDir=/opt/carma/src/carma-simulation/carla_ackermann_control_wrapper
+#carla_ackermann_control_wrapper.sonar.projectBaseDir=/opt/carma/src/carma-simulation/carla_ackermann_control_wrapper
 
 # C++ Package differences
 # Sources
-carla_ackermann_control_wrapper.sonar.sources=src
+#carla_ackermann_control_wrapper.sonar.sources=src
+
 # Tests
 # Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
-carla_ackermann_control_wrapper.sonar.tests=test
+#carla_ackermann_control_wrapper.sonar.tests=test

Dockerfile

@@ -1,42 +1,143 @@
-#  Copyright (C) 2018-2020 LEIDOS.
-# 
+#  Copyright (C) 2018-2021 LEIDOS.
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastol/carma-base:carma-system-3.4.0 as deps
+FROM ubuntu:18.04
 
-FROM deps as setup
+MAINTAINER Leidos, Inc.
+LABEL Description="Dockerised Simulation of Carla_Sumo_Mosaic"
 
-RUN mkdir ~/src
-COPY --chown=carma . /home/carma/src/
-RUN ~/src/docker/checkout.sh
-RUN ~/src/docker/install.sh
+ENV SUMO_HOME /usr/share/sumo
+ENV SUMO_USER carla_sumo_mosaic
 
-FROM deps
 
-ARG BUILD_DATE="NULL"
-ARG VERSION="NULL"
-ARG VCS_REF="NULL"
+ENV CARLA_HOME /CARLA_0.9.10/
+RUN export CARLA_HOME
 
-LABEL org.label-schema.schema-version="1.0"
-LABEL org.label-schema.name="carla-ackermann-control-wrapper-driver"
-LABEL org.label-schema.description="carla ackermann control wrapper driver for the CARMA Platform"
-LABEL org.label-schema.vendor="Leidos"
-LABEL org.label-schema.version=${VERSION}
-LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA"
-LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-simulation/"
-LABEL org.label-schema.vcs-ref=${VCS_REF}
-LABEL org.label-schema.build-date=${BUILD_DATE}
+RUN apt-get update && \
+    apt-get install -y openjdk-8-jdk && \
+    apt-get install -y ant && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/ && \
+    rm -rf /var/cache/oracle-jdk8-installer;
 
-COPY --from=deps /home/carma/install /opt/carma/install
+ENV JAVA_HOME /usr/lib/jvm/java-8-openjdk-amd64/
+RUN export JAVA_HOME
 
-CMD [ "wait-for-it.sh", "localhost:11311", "--", "roslaunch", "carla_ackermann_control_wrapper", "carla_ackermann_control_wrapper.launch"]
+RUN apt-get -y update
+
+RUN apt-get install x11-xserver-utils dconf-editor dbus-x11 -y
+
+RUN apt-get update && apt-get upgrade -y && apt-get clean
+
+# Python package management and basic dependencies
+RUN apt-get install -y curl python3.7 python3.7-dev python3.7-distutils
+
+# Register the version in alternatives
+RUN update-alternatives --install /usr/bin/python python /usr/bin/python3.7 1
+
+# Set python 3 as the default python
+RUN update-alternatives --set python /usr/bin/python3.7
+
+RUN curl -s https://bootstrap.pypa.io/get-pip.py -o get-pip.py && \
+    python get-pip.py --force-reinstall && \
+    rm get-pip.py
+
+RUN pip3.7 install lxml
+
+# Dependencies for glvnd and X11.
+RUN apt-get update \
+  && apt-get install -y -qq --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+
+RUN apt-get update && \
+    apt-get install -y software-properties-common && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install python3.6 for NS-3 installation
+RUN add-apt-repository ppa:deadsnakes/ppa  && \
+    apt update && \
+    apt install python3.6
+
+# Install other dependencies
+RUN apt-get update && \
+    apt-get install -y g++ gcc unzip tar python3-dev && \
+    apt-get install -y autoconf automake libtool curl make && \
+    apt-get install -y libxml2 libsqlite3-dev && \
+    apt-get install -y libxml2-dev
+
+RUN \
+  apt-get update && \
+  apt-get install -y --allow-unauthenticated \
+  build-essential \
+  pkg-config \
+  lbzip2 \
+  libprotobuf-dev \
+  libsqlite3-dev \
+  protobuf-compiler \
+  patch \
+  rsync \
+  wget
+
+# Install vim as text editor
+RUN apt-get install -y vim
+
+RUN apt-get install -y nano
+
+RUN apt-get install -y xterm
+
+RUN apt install -y default-jdk
+
+# Install SUMO
+RUN add-apt-repository ppa:sumo/stable
+
+RUN apt-get update
+
+RUN apt-get install -y \
+    sumo \
+    sumo-tools \
+    sumo-doc
+
+RUN adduser $SUMO_USER --disabled-password
+
+# Enable sudo
+RUN apt-get update && apt-get install -y sudo
+
+RUN adduser $SUMO_USER sudo --disabled-password
+
+COPY co-simulation/traci_update/connection.py ./usr/share/sumo/tools/traci/
+COPY co-simulation/traci_update/constants.py ./usr/share/sumo/tools/traci/
+COPY co-simulation/traci_update/main.py ./usr/share/sumo/tools/traci/
+
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> \
+/etc/sudoers
+
+
+### Docker (Optional) ###
+# RUN apt-get update && \
+#     apt-get -qy full-upgrade && \
+#     apt-get install -qy curl && \
+#     apt-get install -qy curl && \
+#     curl -sSL https://get.docker.com/ | sh
+
+# RUN adduser $SUMO_USER docker --disabled-password

Instruction/Build Docker Image Instruction/README.md

@@ -0,0 +1,159 @@
+#  Running CARLA-SUMO-MOSAIC Co-Simulation Tool with NS-3 Integration in Docker
+
+This is the tutorial to run CARLA-SUMO-MOSAIC co-simulation tool in a docker container. It is recommended to run the co-simulation tool on a **high-performance** computer.
+
+## Test Platform
+
+- Operating System: Ubuntu 20.04.2 LTS
+- CPU: Intel(R) Core(TM) i7-9700K CPU @ 3.60 GHz
+- RAM: 16 GB
+- Graphics: NVIDIA GeForce RTX 2070 Super 8 GB
+
+## Prerequisites
+
+- NVIDIA GPU with at least 8 GB
+- NVIDIA drivers > 361.93
+- Free Disk Space > 30 GB
+- NVIDIA Container Toolkit
+- Docker
+
+If you do not have Docker installed, please refer to this [link](https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/486178841/Setup+CARMA+Platform+Prerequisites#Install-docker-using-docker-install.sh-in-CARMA-Platform-repo) for installation.
+
+If you do not have NVIDIA Container Toolkit installed, please refer to this [link](https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/486178841/Setup+CARMA+Platform+Prerequisites#CUDA-11.2-(Non-VM-installation)) for installation.
+
+## Build/Pull Docker Image of Co-Simulation Tool
+
+There are two ways to get co-simulation docker image. You can either choose to pull the co-simulation tool docker image from DockerHub or build the image by yourself.
+
+#### Option 1, Pull Docker Image
+
+To pull the co-simulation tool from DockerHub, make sure that you have been installed the docker tool into your system and have been login your personal account.
+
+##### Step 1: Simply type the command to pull the docker image:
+
+```sh
+docker pull usdotfhwastol/carma-xil-cosimulation:[tag]
+```
+
+The tag information could be found from [usdotfhwastol Dockerhub](https://hub.docker.com/repository/docker/usdotfhwastol/carma-xil-cosimulation/tags?page=1&ordering=last_updated)
+
+##### Step 2: Run docker image with a container:
+
+```sh
+cd <path-to-CARMA-simulation>/docker && ./run.sh -v [version]
+```
+
+Once you access the conainer, skip the option 2 and go to the `Run carma-xil-cosimulation` step to test the co-simulation
+
+#### Option 2, Build Docker Image
+##### Prerequisites
+
+To build the co-simulation tool docker image, the executable `carla_sumo_mosaic` file should be created firstly. The executable zip file located at the co-simulation folder as the name `carla-sumo-mosaic-[version].zip`. Extract the all contents into an empty folder with the name `carla_sumo_mosaic` then remember the directory of the folder for the later usage
+
+##### Step 1: Build image from Dockerfile by using following command:
+
+```sh
+cd <path-to-CARMA-simulation>/docker && ./build-image.sh -v [version]
+```
+
+##### Step 2: Run docker image with a docker container
+
+```sh
+cd <path-to-CARMA-simulation>/docker && ./run.sh -v [version]
+```
+
+##### Step 3: Copy CARLA and Co-Simulation tool
+
+Copy `CARLA_0.9.10`, executable `carla_sumo_mosaic` and `bridge` into the container.
+
+```
+docker cp <path-to-CARLA-simulation>/CARLA_0.9.10 <container-id>:./
+docker cp <path-to-unzipped-carla-sumo-mosaic-folder>/carla_sumo_mosaic <container-id>:./
+docker cp <path-to-CARMA-simulation>/co-simulation/bridge <container-id>:./
+```
+
+##### Step 4: Unzip scenarios from sample_scenario.zip at co-simulation folder and copy to docker
+
+```
+docker cp <path-to-folder>/Town04_20 <container-id>:./carla_sumo_mosaic/scenarios
+```
+
+### Modify files in Docker Container
+
+#### Step 1: Modify `ns3_installer.sh`
+
+In Docker container, type:
+
+```sh
+cd carla_sumo_mosaic/bin/fed/ns3
+```
+
+Then modify `ns3_installer.sh` by:
+
+```
+vim ns3_installer.sh
+```
+
+(If you see a message `vim: command not found`, please use `sudo apt-get install vim` to install vim as text editor)
+
+In the `build_ns3()` function, after `CXXFLAGS="-Wno-error" python3.6 ./build.py --disable-netanim`, add the following command
+
+```
+sudo cp -ar ns-3.28/build/ns3 /usr/include/
+```
+
+#### Step 2: Build NS-3
+
+In directory `carla_sumo_mosaic/bin/fed/ns3`, type:
+
+```
+./ns3_installer.sh
+```
+
+Once all 1947 files are compiled and a successful message shows up, it means NS-3 is successful installed.
+
+#### Step 3: Add NS-3 as environment variable
+
+```
+export NS3_HOME='/carla_sumo_mosaic/bin/fed/ns3'
+```
+
+Use `printenv` to check if NS-3 is successful added to environment variable.
+
+#### Step 4: Modify `run.sh`
+
+In directory `carla_sumo_mosaic/bin/fed/ns3`, type:
+
+```
+vim run.sh
+```
+
+Change line 11 to:
+
+```
+LD_LIBRARY_PATH=/carla_sumo_mosaic/bin/fed/ns3/ns-allinone-3.28/ns-3.28/build /carla_sumo_mosaic/bin/fed/ns3/ns-allinone-3.28/ns-3.28/build/scratch/mosaic_starter --port=$port --cmdPort=$cmdport --configFile=scratch/ns3_federate_config.xml
+```
+
+## Run Co-Simulation Tool
+
+Once everything is ready, under directory `/carla_sumo_mosaic`, simply type:
+
+```
+./mosaic.sh -s Town04_20
+```
+
+The command will start CARLA, SUMO and x-terminal showing the CALRA-MOSAIC loading status
+
+![carla_sumo_mosaic_ready](../../co-simulation/doc/gif/ready.gif)
+
+When the x-terminal showing the CARLA-MOSAIC status is connected, simply click the SUMO play button to start the program
+
+![carla_sumo_mosaic](../../co-simulation/doc/gif/carla_sumo_mosaic_demo.gif)
+
+***Note: Current CARMA XIL Version has a known issue with a port conflict between NS-3 and CARMA-CARLA integration see [#39](https://github.com/usdot-fhwa-stol/carma-simulation/issues/39). The recommended workaround is to run exclusively one or the other module.***
+
+### Commit the container back to image
+After the run if there is no issue, commit docker container to docker image
+```
+docker container commit <container-id> usdotfhwastol/carma-xil-cosimulation:[tag]
+```