SynQuacer E Docker

This page guides you to install and run Autoware on the SynQuacer E using Docker. The outline of this page is as follows.

1. Debian Setup
2. Docker Setup
3. Autoware Docker Setup

Attention

• The performance is not optimized for SynQuacer E.
• The functions that require CUDA such as Yolo2/3 are not built.
• Indigo is not supported now (#1356).
• Checkout develop branch for Docker scripts before merging into master.

Debian Setup

You first install Debian according to SynQuacer(TM) E-Series Assembly Instructions.

Docker Setup

You need to build the Docker environment. If the following installation process does not work for you, please check Docker's installation website.

Old Docker Cleanup

$ sudo apt-get remove docker docker-engine docker.io

You are ready to move on the next step if all Docker packages are removed.

Docker CE Installation

This time you may want to install Docker using the repository, though there are several other ways to install Docker.

Step 1: Repository Setup

Do update on apt-get.

$ sudo apt-get update

Permit apt-get to access the repository.

$ sudo apt-get install apt-transport-https ca-certificates curl gnupg2 software-properties-common

Add Docker's official GPG key docker.

$ curl -fsSL https://download.docker.com/linux/debian/gpg | sudo apt-key add -

Validate the key. If you see the fingerprint below, you are reay to move on the next step.

$ sudo apt-key fingerprint 0EBFCD88

pub   4096R/0EBFCD88 2017-02-22
      Key fingerprint = 9DC8 5822 9FC7 DD38 854A  E2D8 8D81 803C 0EBF CD88
uid                  Docker Release (CE deb) <[email protected]>
sub   4096R/F273FCD8 2017-02-22

Install the repository.

$ echo "deb [arch=armhf] https://download.docker.com/linux/debian $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list

Step 2: Docker CE Installation

Update on apt-get.

$ sudo apt-get update

Install the latest version of Docker CE.

$ sudo apt-get install docker-ce

Validate the installation succeeded.

$ sudo docker run armhf/hello-world

Autoware Docker Setup

You can build the Autoware runtime environment using docker. You may choose either to use the configuration of Docker Hub "as is" or to modify-then-recompile Dockerfile.

Case 1: Using Docker Hub "As Is"

Move to the docker/96boards directory in Autoware.

$ git clone https://github.com/autowarefoundation/autoware.git
$ cd autoware
$ cd docker/96boards

Modify the last sentence of run.sh in that directory: autoware-$1 --> autoware/autoware:1.7.0-kinetic-96boards (*comment out does not work, need to modify)

Run run.sh kinetic, assuming that the default path is "/home/$USER/shared_dir".

$ sudo sh run.sh kinetic

If you want to use your own path, run build.sh kinetic with the path argument.

$ sudo sh run.sh kinetic {SHARED_DIR_PATH}

Case 2: Using modify-then-recompile Dockerfile

Step 1: Autoware Docker Build

Move to the docker directory in Autoware.

$ git clone https://github.com/autowarefoundation/autoware.git
$ cd autoware
$ cd docker/96boards

Run build.sh kinetic.

$ sudo sh build.sh kinetic

Step2: Autoware Docker Run

Run run.sh kinetic, assuming that the default path is "/home/$USER/shared_dir".

$ sudo sh run.sh kinetic

If you want to use your own path, run build.sh kinetic with the path argument.

$ sudo sh run.sh kinetic {SHARED_DIR_PATH}