Planning simulator doesn't seem to work on Arm

[kaspermeck-arm]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

When following the instructions from

• https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/
• https://autowarefoundation.github.io/autoware-documentation/main/tutorials/scenario-simulation/planning-simulation/installation/
  to run the planning simulation, the container doesn't start.

Expected behavior

For the container to launch using rocker.

Actual behavior

Container doesn't launch.

Steps to reproduce

Clone repo and pull container

ubuntu@ava:~$ git clone https://github.com/autowarefoundation/autoware.git
ubuntu@ava:~$ docker pull ghcr.io/autowarefoundation/autoware-universe:galactic-20220915-prebuilt-cuda-arm64
ubuntu@ava:~$ docker images
REPOSITORY                                     TAG                                     IMAGE ID       CREATED         SIZE
ghcr.io/autowarefoundation/autoware-universe   galactic-20220915-prebuilt-cuda-arm64   399c11688e53   5 days ago      18.2GB
ubuntu@ava:~$ rocker -e LIBGL_ALWAYS_SOFTWARE=1 --x11 --user --volume $HOME/autoware -- ghcr.io/autowarefoundation/autoware-universe:galactic-20220915-prebuilt-cuda-arm64

Inside container

ubuntu@cdf526db27a5:~$ cd autoware/
ubuntu@cdf526db27a5:~/autoware$ mkdir src
ubuntu@cdf526db27a5:~/autoware$ vcs import src < simulator.repos
ubuntu@cdf526db27a5:~/autoware$ sudo apt update
ubuntu@cdf526db27a5:~/autoware$ rosdep update
ubuntu@cdf526db27a5:~/autoware$ rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO

Error message

...
executing command [sudo -H apt-get install libembree-dev]
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package libembree-dev
ERROR: the following rosdeps failed to install
  apt: command [sudo -H apt-get install libembree-dev] failed
...

Versions

• Ubuntu 20.04 LTS
• ROS2
• ghcr.io/autowarefoundation/autoware-universe:galactic-20220915-prebuilt-cuda-arm64

Possible causes

Seems as though libembree-dev isn't available on Arm.

Additional context

No response

[kenji-miyake]

Seems as though libembree-dev isn't available on Arm.

Related: autowarefoundation/autoware#2413

[kaspermeck-arm]

Proposed fix:

1. install libembree-dev manually
2. add --skip-keys=embree to the rosdep install command
3. see if CMake can find the package when running colcon build

[mitsudome-r]

@ito-san Already ran planning simulator on ARM machine.
autowarefoundation/autoware-projects#32 (comment)

@ito-san Do you have instructions to reproduce your test on Open AD Kit?

[ito-san]

@kasperornmeck

If you want to build scenario_simulator_v2, please follow the instructions below.

1. Add depencies

   sudo add-apt-repository ppa:kisak/kisak-mesa -y
   sudo apt install libegl-mesa0 libglfw3-dev -y

2. Build oneTBB

   git clone https://github.com/oneapi-src/oneTBB -b v2021.3.0
   cd ~/oneTBB
   mkdir build & cd build & cmake -DCMAKE_CXX_STANDARD=20 -DCMAKE_BUILD_TYPE=debug -DCMAKE_CXX_COMPILER=g++ -DCMAKE_C_COMPILER=gcc -DTBB_CPF='ON' -DTBB_TEST=OFF .. & make & sudo make install

3. Build embree

   git clone https://github.com/embree/embree -b v3.13.0
   cd ~/embree
   mkdir build && cd build && cmake ../ -DEMBREE_ISPC_SUPPORT=OFF && make && sudo make install

4. Build your workspace

   cd ~/autoware
   vcs import src < simulator.repos
   rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO --skip-keys embree
   MAKEFLAGS=-j3 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-worker 3

But you can also use docker container built for arm64 like this.

docker run --rm -it --net host -v /home/autoware/sample_data:/sample_data ghcr.io/ito-san/scenario_simulator_v2:galactic-arm64 ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:=/sample_data/t4v2.yaml architecture_type:=awf/universe launch_autoware:=false record:=false

[evshary]

@ito-san I tried to run Open AD Kit v2.0 based on this guide
In this guide, Autoware is running on AVA platform (Yocto-based) and the scenario_simulator_v2 is running on my x86 host, which is no problem.
Then I also want to try scenario_simulator_v2 on AVA platform, so use your docker container.
But I meet the following error message:

Not sure whether it's related to the dependency issue, maybe I need to fetch the latest scenario_simulator_v2 code and try again.
Do you have any suggestions about this error?

[ito-san]

@evshary
Please run the following.

docker run --rm -it --net host -v /home/root/sample_data:/sample_data ghcr.io/ito-san/scenario_simulator_v2:galactic-arm64 /bin/bash

Inside container

ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:=/sample_data/t4v2.yaml architecture_type:=awf/universe launch_autoware:=false record:=false

You will get the error.
Please let me know this output.

cat /tmp/scenario_test_runner/result.junit.xml

[evshary]

@ito-san Thank you for the explanation.
After viewing the output, I found I have the wrong path of the map in the docker container.
It works perfectly after correcting the path.
Thank you!

[xmfcx]

@kasperornmeck @evshary I am closing this issue since it's fixed, please reopen it if I understood it wrong.