Installation and use

ROS noetic

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.

Table of Contents

  1. Ordinary Installation
    1. Requirements
    2. Installing ROS Noetic
    3. Installing Jderobot’s dependencies
    4. Installing Behavior Metrics
    5. Installing CARLA simulator and support
  2. Installation using Docker
    1. Starting Docker Container
      1. VNC container viewer
      2. Terminal in container
      3. Stopping container
      4. Resuming 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

Installing Python 3.7 and creating a virtualenv

It is recommended to use virtual environment for Behavior Metrics.

sudo apt install software-properties-common python3-pip python3-virtualenv
sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt install python3.7

# Create virtualenv
virtualenv -p python3.7 .behavior-metrics
source .behavior-metrics/bin/activate
pip install empy
sudo apt-get install python3.7-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:

  1. Install CARLA 0.9.13
  2. Install CARLA ROS Bridge
  3. Install CARLA bird-eye-view
     pip3 install carla_birdeye_view==1.1.1 # already in requirements.txt
    
  4. 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_0_9_13/
     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   
    

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.py -c configs/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!