AutoDRIVE Simulator: Palmetto Cluster Deployments

This branch hosts resources for deployments of the AutoDRIVE Simulator on Palmetto 2 HPC cluster.

Submit Job to Palmetto 2 HPC Cluster

The overall project objective focuses on variability testing of the AEB functionality (SUT) for OpenCAV. Each test is stored in its own sub-folder, under the palmetto directory. In order to reproduce any one of these tests, you will need to upload the corresponding sub-folder to your Palmetto 2 home folder, update the relevant paths within each script, and then submit the corresponding job script via Palmetto 2's QSUB scheduler:

qsub autodrive_test.sh

Create conda Environment

All tests also rely on the autodrive conda environment being available to you on Palmetto 2. This environment can be recreated, as needed, from the file palmetto/environment.yml, using the following command:

conda env create -n autodrive -f environment.yml

Build AutoDRIVE Simulator Image

It is assumed that you have an installation of the required version of AutoDRIVE Simulator. Please refer to the instructions below to set up a containerized installation of AutoDRIVE Simulator by use of a sandboxed Singularity container. In order to perform the build process, you first need to procure a Docker image for AutoDRIVE Simulator. This image can either be built using the instructions provided in this same repository, under the docker branch, or the autodriveecosystem/autodrive_sim_opencav pre-built image available on Docker Hub may be pulled and used instead.

You may build a Singularity sandbox for it under your Palmetto 2 home folder using the following command:

cd ~
singularity build --sandbox autodrive_simulator/ docker://autodriveecosystem/autodrive_sim_opencav

Start Instance of the Sandbox

Once the image is built and written to the destination, start the instance of the sandbox using the following command:

singularity instance start --nv -B $HOME,$TMPDIR autodrive_simulator/ inst1

Run Instance of the Sandbox

Run the started instance of the sandbox using the following command (the writable flag allows us to make changes within the container should we need to save these changes as images):

singularity run --writable --nv -B $HOME,$TMPDIR instance://inst1