search

lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
Other
2.28k stars 781 forks source link

Integrating simulator with custom docker image - cuda & vulkan drivers support #1447

Open amadeuszsz opened 3 years ago

amadeuszsz commented 3 years ago

I want to run simulator on custom docker image. I modified tensorflow recipe slightly (change Ubuntu 18.04 base to 20.04), then tested GPU with tensorflow and it's works perfectly with Cuda. Now I have some issues with vulkan. Simulator window won't appear.

Log output:

Mono path[0] = '/opt/lgsvl/simulator_Data/Managed'
Mono config path = '/opt/lgsvl/simulator_Data/MonoBleedingEdge/etc'
Preloaded 'liblaszip.so'
Preloaded 'libpng.so'
Preloaded 'libsqlite3.so'
Preloaded 'libturbojpeg.so'
Display 0 '0': 1920x1080 (primary device).
Display 1 'LG IPS FULLHD 22"': 1920x1080 (secondary device).
Display 2 'LG IPS FULLHD 22"': 1920x1080 (secondary device).
Display 3 'LG IPS FULLHD 22"': 1920x1080 (secondary device).
Loading player data from /opt/lgsvl/simulator_Data/data.unity3d
Unable to load player prefs
Desktop is 1920 x 1080 @ 60 Hz
[Vulkan init] extensions: count=18
[Vulkan init] extensions: name=VK_KHR_device_group_creation, enabled=0
[Vulkan init] extensions: name=VK_KHR_display, enabled=1
[Vulkan init] extensions: name=VK_KHR_external_fence_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_memory_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_external_semaphore_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_display_properties2, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_physical_device_properties2, enabled=0
[Vulkan init] extensions: name=VK_KHR_get_surface_capabilities2, enabled=0
[Vulkan init] extensions: name=VK_KHR_surface, enabled=1
[Vulkan init] extensions: name=VK_KHR_surface_protected_capabilities, enabled=0
[Vulkan init] extensions: name=VK_KHR_wayland_surface, enabled=1
[Vulkan init] extensions: name=VK_KHR_xcb_surface, enabled=0
[Vulkan init] extensions: name=VK_KHR_xlib_surface, enabled=1
[Vulkan init] extensions: name=VK_EXT_acquire_xlib_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0
[Vulkan init] extensions: name=VK_EXT_direct_mode_display, enabled=0
[Vulkan init] extensions: name=VK_EXT_display_surface_counter, enabled=0
[Vulkan init] extensions: name=VK_EXT_debug_utils, enabled=0
Vulkan detection: 0
No supported renderers found, exiting 
(Filename:  Line: 618)

Docker run script:

docker run -it \
    --runtime=nvidia \
    --env="DISPLAY=:1" \
    --env="XDG_RUNTIME_DIR=/tmp" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --env="NVIDIA_VISIBLE_DEVICES=all" \
    --env="NVIDIA_DRIVER_CAPABILITIES=all" \
    --privileged \
    --network=host \
    custom_image:master

vulkaninfo output:

/build/vulkan-tools-KEbD_A/vulkan-tools-1.2.131.1+dfsg1/vulkaninfo/vulkaninfo.h:477: failed with ERROR_INITIALIZATION_FAILED

nvidia-smi output:

+-----------------------------------------------------------------------------+
| NVIDIA-SMI 460.73.01    Driver Version: 460.73.01    CUDA Version: 11.2     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                               |                      |               MIG M. |
|===============================+======================+======================|
|   0  GeForce GTX 166...  Off  | 00000000:01:00.0  On |                  N/A |
| N/A   46C    P5     8W /  N/A |    731MiB /  5936MiB |      3%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+

+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
+-----------------------------------------------------------------------------+

I tried to install/uninstall vulkan mesa drivers and any other vulkan dependencies but it still won't work. Tested with 2020.06 and 2021.01 releases. Any other ideas how to deal with vulkan drivers?

EricBoiseLGSVL commented 3 years ago

@eagafonovlge ?