Installation

Hardware requirements

• NVIDIA GPU with CUDA

From Docker Hub

Environments

To start the docker container:

docker pull haixuantao/dora-drives
./scripts/launch.sh -s -g tutorials/carla_full.yaml

This docker image has been built with my setup and it might not work on all machines. In case it doesn't work. Please check the following From Source.

Building Docker From Source

Environments

For linux, run:

git clone git@github.com:dora-rs/dora-drives.git
cd dora-drives
./scripts/launch.sh -b -s -g tutorials/carla_full.yaml

This script has been built with my setup and you might need to install further dependencies that I have not listed, and additional configuration for cross-compiling on other OS.

If you're having build difficulties with CUDA. Check out :https://github.com/pytorch/extension-cpp/issues/71#issuecomment-1061880626 and make sure to have the exact same daemon. You will need to have /etc/docker/daemon.json to be exactly:

{
   "runtimes": {
       "nvidia": {
           "path": "nvidia-container-runtime",
           "runtimeArgs": []
       }
   },
   "default-runtime": "nvidia"
}

And restart:

sudo systemctl restart docker

Using dora-drives without Docker

Environments

Installation

git clone git@github.com:dora-rs/dora-drives.git

export DORA_DEP_HOME=<PATH TO A PARENT FOLDER> # Ex: $HOME/Documents
export DORA_DEP_HOME=$HOME/Documents
export CARLA_HOME=$DORA_DEP_HOME/dependencies/CARLA_0.9.13
export PYLOT_HOME=$DORA_DEP_HOME
export PYTHONPATH=$PYTHONPATH:$DORA_DEP_HOME/dependencies:$DORA_DEP_HOME/dependencies/CARLA_0.9.13/PythonAPI/carla:$DORA_DEP_HOME/dependencies/Carsmos/simulate_py37


## Add missing linux dependencies
sudo apt-get -y update 
sudo apt-get -y install apt-utils git curl clang wget
sudo apt-get install -y cmake unzip libpng-dev libgeos-dev python3-opencv
sudo apt-get -y --fix-missing update && sudo apt-get install --fix-missing -y libcudnn8 ssh libqt5core5a libeigen3-dev cmake qtbase5-dev libpng16-16 libtiff5 python3-tk libgeos-dev vim build-essential libopenblas-dev libssl-dev 

## Installing dependencies
conda create -n dora3.7 python=3.7 -y
conda activate dora3.7
conda install pytorch=1.11.0 torchvision=0.12.0 cudatoolkit=11.3 -c pytorch -y
pip install --upgrade pip
pip install -r install_requirements.txt
pip install -r requirements.txt


chmod +x ./scripts/*
./scripts/install.sh

## Installing Carla
cd $DORA_DEP_HOME/dependencies/
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.13.tar.gz 
tar -xvf CARLA_0.9.13.tar.gz
rm CARLA_0.9.13.tar.gz

## Installing dora
sudo wget https://github.com/dora-rs/dora/releases/download/v0.2.0/dora-v0.2.0-x86_64-Linux.zip && sudo unzip dora-v0.2.0-x86_64-Linux.zip -d ~/.local/bin 

Uninstalling package

conda remove --name dora3.7 --all
sudo rm -rf $DORA_DEP_HOME/dependencies
rm ~/.local/bin/dora*
    ```