How to run Apollo on SORA2 3 - hcn1519/ADS GitHub Wiki

How to run Apollo on SORA2/3

In this document, you can learn how to run your Apollo application on SORA2/3.

1. Getting Authorization for connecting server

You first need to have authorization to access SORA2/3.

1. Getting ICS Account

  • First, you need to have ICS account. If you already have yours, you can skip this process. Go to ICS Account Activation, and create your account. If you have problems, ask it to [email protected] or your advisor.

2. Ask your advisor for access to SORA2/3

  • We need additional permission to access SORA 2/3. This requires your advisor's consent, and they should email [email protected] allowing you access.

2. Connecting with SORA2/3

1. UCI VPN

  • You need to have UCI VPN access to connect SORA2/3.(UCI VPN) You will see below result, if you succeed to access UCI VPN.

2. SSH connection

  • Now, you are ready to access SORA2/3. Open up your terminal application and run below command. Enter your ICS account password when you need and you can connect SORA2/3.
$ ssh [ics-username]@sora3.ics.uci.edu # use your own ICS account for [ics-username]

3. Running Apollo

Since we are not using /home/username directory, move to the /data/disk02 (ask correct path to your advisor) and create your personal directory.

cd /data/disk02
mkdir [your username]
cd [your username]
  1. Clone Apollo project to your personal directory.
git clone https://github.com/ApolloAuto/apollo
  1. Switch your branch to stable version(tag 9.0.0).
git checkout -b v9.0.0 v9.0.0

Since we have restricted permissions to run sudo command in SORA2/3, we cannot execute Apollo's docker setup scripts like docker/dev_start.sh and docker/dev_into.sh. To resolve issue, we use another scripts from here.(UCI-SORA-LAB)

  1. Copy and paste sudo_dev_start.sh and sudo_dev_into.sh from UCI-SORA-LAB to your repository.

  2. Replace values of sudo_dev_start.sh 34-37 lines to below code.

VERSION_X86_64="dev-x86_64-18.04-20230831_1143"
TESTING_VERSION_X86_64="dev-x86_64-18.04-testing-20210112_0008"

VERSION_AARCH64="dev-aarch64-20.04-20231024_1054"

These codes come from /docker/scripts/dev_start.sh's 30-33 lines.

  1. Run ./sudo_dev_start.sh to create docker container, and execute ./sudo_dev_into.sh to get into the docker.
./docker/scripts/sudo_dev_start.sh
./docker/scripts/sudo_dev_into.sh
  1. If you successfully enter into the docker, build Apollo from there and run DreamView.
./apollo.sh build
./scripts/bootstrap.sh

Extra Usage Tips

Stop all running docker container

docker stop $(docker ps -a -q)

Stop DreamView

./scripts/bootstrap.sh stop

http://localhost:8899

Play cyber record

cyber_recorder play -f ADS_DataSet/sample_scenorita_records/gen_143_sce_4.00000 --loop