update simulator to ubuntu 20.04 (#2463)
* fix sim build in 20.04 * run ci * fix docker build * restore ci cofnig Co-authored-by: Willem Melching <willem.melching@gmail.com>albatross
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305cf4180c
commit
cc1bca542d
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@ -8,7 +8,7 @@ jobs:
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name: build container
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name: build container
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runs-on: ubuntu-20.04
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 50
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if: github.event_name == 'schedule' && github.repository == 'commaai/openpilot'
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if: github.repository == 'commaai/openpilot'
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steps:
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steps:
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- uses: actions/checkout@v2
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- uses: actions/checkout@v2
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with:
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with:
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@ -6,22 +6,13 @@ RUN apt-get update && apt-get install -y \
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tar \
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tar \
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curl \
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curl \
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xz-utils \
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xz-utils \
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beignet-opencl-icd \
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beignet-opencl-icd \
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libglvnd-dev \
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alien \
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alien \
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dbus \
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dbus \
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gcc-arm-none-eabi \
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gcc-arm-none-eabi \
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tmux \
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tmux \
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vim \
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vim \
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# libglvnd dependencies
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automake \
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libtool \
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libxext-dev \
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libx11-dev \
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x11proto-gl-dev \
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libpng16-16 \
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&& rm -rf /var/lib/apt/lists/*
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&& rm -rf /var/lib/apt/lists/*
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# Intel OpenCL driver
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# Intel OpenCL driver
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@ -52,16 +43,6 @@ ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,display
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RUN dbus-uuidgen > /etc/machine-id
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RUN dbus-uuidgen > /etc/machine-id
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# we can apt-get after moving to a newer ubuntu
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WORKDIR /opt/libglvnd
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RUN git clone --branch="0.1.1" https://github.com/NVIDIA/libglvnd.git . && \
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./autogen.sh && \
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./configure --prefix=/usr/local --libdir=/usr/local/lib/x86_64-linux-gnu && \
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make -j"$(nproc)" install-strip && \
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find /usr/local/lib/x86_64-linux-gnu -type f -name 'lib*.la' -delete
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ENV LD_LIBRARY_PATH /usr/local/lib/x86_64-linux-gnu:/usr/local/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
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# CARLA python api
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# CARLA python api
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COPY ./tools/sim/install_carla.sh /tmp
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COPY ./tools/sim/install_carla.sh /tmp
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RUN /tmp/install_carla.sh
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RUN /tmp/install_carla.sh
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@ -76,8 +57,7 @@ RUN mkdir -p $HOME/openpilot
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COPY SConstruct $HOME/openpilot/
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COPY SConstruct $HOME/openpilot/
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COPY ./phonelibs $HOME/openpilot/phonelibs
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COPY ./phonelibs $HOME/openpilot/phonelibs
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COPY ./laika $HOME/openpilot/laika
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COPY ./site_scons $HOME/openpilot/site_scons
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COPY ./laika_repo $HOME/openpilot/laika_repo
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COPY ./rednose $HOME/openpilot/rednose
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COPY ./rednose $HOME/openpilot/rednose
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COPY ./common $HOME/openpilot/common
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COPY ./common $HOME/openpilot/common
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COPY ./models $HOME/openpilot/models
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COPY ./models $HOME/openpilot/models
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@ -3,6 +3,7 @@ openpilot in simulator
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## Running the simulator
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## Running the simulator
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First, start the CARLA server.
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First, start the CARLA server.
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```
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```
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./start_carla.sh
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./start_carla.sh
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@ -14,6 +15,7 @@ Then start bridge and openpilot.
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```
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```
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To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
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To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
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## Controls
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## Controls
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You can control openpilot driving in the simulation with the following keys
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You can control openpilot driving in the simulation with the following keys
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@ -1,5 +1,6 @@
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#!/bin/bash
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#!/bin/bash
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cd ~/openpilot/tools/nui
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cd ~/openpilot/tools/nui
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# vision, boardd, sensorsd, gpsd
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# vision, boardd, sensorsd, gpsd
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ALLOW=frame,can,ubloxRaw,health,sensorEvents,gpsNMEA,gpsLocation ./nui "02ec6bea180a4d36/2019-10-25--10-18-09"
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ALLOW=frame,can,ubloxRaw,health,sensorEvents,gpsNMEA,gpsLocation ./nui "02ec6bea180a4d36/2019-10-25--10-18-09"
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