Installation and use

Behavior Metrics with ROS Noetic can be installed as usual in the machine or using Docker. Since ROS Noetic needs Ubuntu 20 and the dependencies are quite new, that workflow is also provided.

Ordinary Installation
Installation using Docker
1. Starting Docker Container
2. Building the container

Installation

Requirements

Ubuntu 20.04

Installing ROS Noetic

A detailed ROS Noetic installation guide can be found in the ROS Wiki

Setup your sources

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installing ROS Noetic

sudo apt update
sudo apt install ros-noetic-desktop-full

Environment setup

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Creating a virtualenv

It is recommended to use virtual environment for Behavior Metrics.

# Create virtualenv
virtualenv -p python3 .behavior-metrics
source .behavior-metrics/bin/activate
pip install empy
sudo apt-get install python3-dev

Installing dependencies

JdeRobot’s CustomRobots

git clone -b noetic-devel https://github.com/JdeRobot/CustomRobots
cd CustomRobots/f1 && mkdir build && cd build
/bin/bash -c "source /opt/ros/noetic/setup.bash;
cmake .. && make && make install;"
echo "source /opt/jderobot/share/jderobot/gazebo/assets-setup.sh" >> ~/.bashrc

ROS additional package

git clone https://github.com/strasdat/Sophus
cd Sophus && mkdir build && cd build
cmake ../ && make && make install

Installing Behavior Metrics

This application depends on some third party libraries, most of them are included in the requirements file. To install them just type the following:

git clone -b noetic-devel https://github.com/JdeRobot/BehaviorMetrics
cd BehaviorMetrics
pip3 install -r requirements.txt

If you are going to use the GUI you need to create the resources file for the application.

pyrcc5 -o behavior_metrics/ui/gui/resources/resources.py \
	behavior_metrics/ui/gui/resources/resources.qrc

Installing CARLA simulator and support

For installing CARLA and supporting this new simulator:

Install CARLA 0.9.13
Install CARLA ROS Bridge

Install this fork of the CARLA bird-eye-view

 cd /PATH/TO/BEHAVIOR/METRICS/BehaviorMetrics/behavior_metrics
 git clone https://github.com/Qi-Zha0/carla-birdeye-view

Add variables to PYTHONPATH following the simulator installation instructions and ROS bridge installation instructions.

 source ~/carla-ros-bridge/catkin_ws/devel/setup.bash
 export CARLA_ROOT=<PATH-TO-CARLA>/carla_simulator/
 export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla
 export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg   
 export OBJECT_PATH=<PATH-TO-BEHAVIOR-METRICS>/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/parked_car_objects.json

Note: $OBJECT_PATH is a sample CARLA objects json file containing objects to be spawned in the CARLA simulator. You can use your own json file by setting $OBJECT_PATH. More details about this are added in Quick Start guide

Test that everything is correctly set up running the example configuration file:
```
  python3 driver_carla.py -c configs/CARLA/default_carla.yml -g
```

(Optional) Installing for Drone

For installing and launching drone:

Install JDE-drone. do source install, inside your ROS workspace.

git clone https://github.com/JdeRobot/drones.git -b noetic-devel
cd ~/catkin_ws/src && ln -s drones/drone_wrapper .
cd ~/catkin_ws/src && ln -s drones/drone_assets .
cd ~/catkin_ws/src && ln -s drones/rqt_drone_teleop .
source ~/catkin_ws/devel/setup.bash
cd /drones/drone_circuit_assets && mkdir build && cd build
cmake .. && make
sudo make install

Add environment variables

echo 'export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:/usr/share/gazebo-11' >> ~/.bashrc
echo 'export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/drones/drone_assets/models' >> ~/.bashrc
source ~/.bashrc

Install PX4

To install PX4 toolchain :

a. Download PX4 source Code

git clone --recursive https://github.com/PX4/PX4-Autopilot.git

b. Run the ubuntu.sh with no arguments (in a bash shell) to install everything:

bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

Acknowledge any prompts as the script progress.

You can use the –no-nuttx and –no-sim-tools options to omit the NuttX and/or simulation tools.

Then restart your computer.

c. Build PX4

cd  ~/PX4-Autopilot
DONT_RUN=1 make px4_sitl gazebo

d. Export Environment variables

echo 'source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default' >> ~/.bashrc
echo 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic' >> ~/.bashrc
source ~/.bashrc

e. Try launching PX4 simulation (optional)

roslaunch px4 mavros_posix_sitl.launch
pxh> commander arm # when launching finishes

Launch drone inside behaviour metrics

cd  < path to BehaviorMetrics >
python3 driver_gazebo.py -c ./configs/gazebo/default-drone.yml -g

Installation using Docker

The docker installation guide is very clear and can be found in this link which is well documented.

Download Docker in Ubuntu

First remove older versions.

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

Then setup the stable repository

sudo apt-get update
sudo apt-get install \
    apt-transport-https \
    ca-certificates \
    curl \
    gnupg-agent \
    software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository \
   "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
   $(lsb_release -cs) \
   stable"    

Install the docker engine

sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io

Add your user to the docker’s group to avoid using sudo for docker, you have to log out and log in and restart to for this change to take effect.

sudo usermod -aG docker your-user

Test your installation

docker run hello-world

Running Behavior Metrics Containers

Open up a terminal a paste the following command. Creating a volume is recommended so you can add models or datasets easily. To create the volume update local_directory to yur local directory where your datasets and models are located and docker_directory to the directory you want them to be stored inside the container.

For CPU only

docker run -dit --name behavior-metrics-noetic \
	-p 5900:5900 \
	-p 8888:8888 \
        -v [local_directory]:[docker_directory] \
	jderobot/behavior-metrics:noetic

For GPU support (CUDA 10.1 Cudnn 7)

Some extra packages are needed for Ubuntu 16.04/18.04/20.04, more about installation in nvidia-docker docs.

distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker

The flag --gpus is added along with the correct image that contains cuda drivers.

docker run --gpus all -dit --name behavior-metrics-noetic \
        -p 5900:5900 \
        -p 8888:8888 \
        jderobot/behavior-metrics:noetic-10.1-cudnn7

For GPU support on WSL refer Getting started with CUDA on Ubuntu on WSL 2.

Using VNC to visualize container

To connect to our container RealVNC can be installed to access the GUI through the port 5900.

Once vnc-viewer is open fill in localhost:5900 in the address and then press connect.

You will need to authenticate, the current password is jderobot, although it can be changed in the script vnc_startup.sh.

Using terminal in container

The recommended way to work, is by writing down docker logs container-name and you will get an URL, which will take you to notebook, double click on the last URL to open Jupyter.

docker logs behavior-metrics-noetic

Go to that URL in the browser (outside VNC) and once you are in the notebook you can open up a terminal by clicking in Terminal.

A terminal window will open. Type

bash

and this window will behave as any other Ubuntu terminal, so you are ready to run Behavior Metrics, once the GUI is opened it will be displayed in the VNC window.

cd BehaviorMetrics/behavior_metrics/
python3 driver_gazebo.py -c configs/gazebo/default.yml -g

This command will open the Gazebo Simulation in the VNC window. You can also directly run the previous command inside VNC window in a terminal.

IF THE PREVIOUS COMMAND FAILS try the following and try again:

sudo apt-get update && sudo apt-get upgrade

Stopping container

behavior-metrics-noetic should be replaced with the name of your container.

docker stop behavior-metrics-noetic

Resuming container

behavior-metrics-noetic should be replace with the name of your container, this command is similar to docker run so now you can run docker logs container_name to get a new link for jupyter, and then connect as usual to your VNC viewer.

docker restart behavior-metrics-noetic

Building the latest container

First go to the folder where the Dockerfile is, then use docker use docker built command with the desired name tag.

cd BehaviorMetrics/.docker/noetic/
docker build -t any-tag-you-want .

From here you are to good to go to the Quick Start guide!

Table of Contents

Installation

Requirements

Installing ROS Noetic

Setup your sources

Set up your keys

Installing ROS Noetic

Environment setup

Creating a virtualenv

Installing dependencies

JdeRobot’s CustomRobots

ROS additional package

Installing Behavior Metrics

Installing CARLA simulator and support

(Optional) Installing for Drone

Installation using Docker

Download Docker in Ubuntu

Running Behavior Metrics Containers

For CPU only

For GPU support (CUDA 10.1 Cudnn 7)

Using VNC to visualize container

Using terminal in container

Stopping container

Resuming container

Building the latest container