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carla_check.md

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Carla sanity check

Carla is great but depending on ones system setup problems can occur. This sanity-check helps to identify problems and to check if Carla is working correctly.

Step 1 - Clone the repository

Clone the seed4d repository to your local machine:

git clone https://github.com/continental/seed4d.git

Step 2 - Build the SEED4D docker image and run container(s)

Enter the seed4d directory and build the container:

docker build -t seed4d .

Choose the GPU device(s) you want to use and run the container. Change X to the GPU device number(s) you want to use. We found that we needed to mount the libnvidia-gpucomp.so and icd.d directories to get Carla to work. Then you for example need to add: -v /usr/lib/x86_64-linux-gnu/libnvidia-gpucomp.so.550.90.07:/usr/lib/x86_64-linux-gnu/libnvidia-gpucomp.so.550.90.07 \, see for further information. The sleep infinity command is used to keep the container running. The last -v flag is used to mount the SEED4D directory to the container. This is where the data will be saved, change SEED4D/ to the path of the repository. If you have the capacity, the fastest way is generating all the data in parallel on 8 different GPUs.

docker run --name carla \
--gpus '"device=X"' \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-v /usr/share/vulkan/icd.d:/usr/share/vulkan/icd.d \
-v SEED4D/:/seed4d \
seed4d \
sleep infinity

Step 3 - Run the sanity check

Enter the docker container:

docker exec -it carla /bin/bash

Check if vulkan is working correctly. Important: vulkaninfo --summary should not yield any errors on the host machine, if it does your problem lies elsewhere. Here we verify that vulkan can properly be used from within the container:

vulkaninfo --summary

Check if Carla is working correctly. Make the carla binary executable and run it. CarlaUE4 should now be running. You can verify this by checking watch -n 0.01 nvidia-smi, the gpu should be taxed now.

chmod +x "/home/carla/CarlaUE4/Binaries/Linux/CarlaUE4-Linux-Shipping"

/home/carla/CarlaUE4/Binaries/Linux/CarlaUE4-Linux-Shipping CarlaUE4 -carla-server -RenderOffScreen

The terminal output should looke like this: 4.26.2-0+++UE4+Release-4.26 522 0 and via nvidia-smi one should see that a part of the gpu is blocked. Great everything seems to work! The container can be stopped.