feat: run zenoh under aic container

[knorrrr]

・AIチャレンジコンテナ下でZenohを起動するようにしました。

私の環境ではPC2台でAutowareのトピックをros2 topic echoできました。
一応実行確認お願いします。

[taikitanaka3]

@knorrrr
とりあえず、run_zenoh.shしてみたんですが、zenoh用の設定がなにか必要ですかね？

docker run --rm -it --device /dev/dri  -e ROS_DISTRO=humble --name zenoh  --network host  --privileged -v /home/t4tanaka/aichallenge-2024/vehicle/aichallenge:/aichallenge  -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1   -e XAUTHORITY=/tmp/.docker3lqxqj1_.xauth -v /tmp/.docker3lqxqj1_.xauth:/tmp/.docker3lqxqj1_.xauth   -v /tmp/.X11-unix:/tmp/.X11-unix   -v /etc/localtime:/etc/localtime:ro  6ed82126add9 zenoh-bridge-ros2dds -c /vehicle/zenoh.json5
2024-10-17T12:50:39.692930Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: zenoh-bridge-ros2dds v1.0.0-rc.1
2024-10-17T12:50:39.693796Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: Zenoh Config(Config { id: d195fcf5001efa5f57ad2b8c0ea75beb, metadata: Null, mode: Some(Router), connect: ConnectConfig { timeout_ms: None, endpoints: Unique([]), exit_on_failure: None, retry: None }, listen: ListenConfig { timeout_ms: None, endpoints: Dependent(ModeValues { router: Some([tcp/[::]:7447]), peer: Some([tcp/[::]:0]), client: None }), exit_on_failure: None, retry: None }, scouting: ScoutingConf { timeout: None, delay: None, multicast: ScoutingMulticastConf { enabled: None, address: None, interface: None, ttl: None, autoconnect: None, listen: None }, gossip: GossipConf { enabled: None, multihop: None, autoconnect: None } }, timestamping: TimestampingConf { enabled: Some(Unique(true)), drop_future_timestamp: None }, queries_default_timeout: None, routing: RoutingConf { router: RouterRoutingConf { peers_failover_brokering: None }, peer: PeerRoutingConf { mode: None } }, aggregation: AggregationConf { subscribers: [], publishers: [] }, transport: TransportConf { unicast: TransportUnicastConf { accept_timeout: 10000, accept_pending: 100, max_sessions: 1000, max_links: 1, lowlatency: false, qos: QoSUnicastConf { enabled: true }, compression: CompressionUnicastConf { enabled: false } }, multicast: TransportMulticastConf { join_interval: Some(2500), max_sessions: Some(1000), qos: QoSMulticastConf { enabled: false }, compression: CompressionMulticastConf { enabled: false } }, link: TransportLinkConf { protocols: None, tx: LinkTxConf { sequence_number_resolution: U32, lease: 10000, keep_alive: 4, batch_size: 65535, queue: QueueConf { size: QueueSizeConf { control: 1, real_time: 1, interactive_high: 1, interactive_low: 1, data_high: 2, data: 4, data_low: 2, background: 1 }, congestion_control: CongestionControlConf { drop: CongestionControlDropConf { wait_before_drop: 1000 }, block: CongestionControlBlockConf { wait_before_close: 5000000 } }, batching: BatchingConf { enabled: true, time_limit: 1 } }, threads: 3 }, rx: LinkRxConf { buffer_size: 65535, max_message_size: 1073741824 }, tls: TLSConf { root_ca_certificate: None, listen_private_key: None, listen_certificate: None, enable_mtls: None, connect_private_key: None, connect_certificate: None, verify_name_on_connect: None, root_ca_certificate_base64: None, listen_private_key_base64: None, listen_certificate_base64: None, connect_private_key_base64: None, connect_certificate_base64: None }, unixpipe: UnixPipeConf { file_access_mask: None } }, shared_memory: ShmConf { enabled: true }, auth: AuthConf { usrpwd: UsrPwdConf { user: None, password: None, dictionary_file: None }, pubkey: PubKeyConf { public_key_pem: None, private_key_pem: None, public_key_file: None, private_key_file: None, key_size: None, known_keys_file: None } } }, adminspace: AdminSpaceConf { enabled: true, permissions: PermissionsConf { read: true, write: false } }, downsampling: [], access_control: AclConfig { enabled: false, default_permission: Deny, rules: None, subjects: None, policies: None }, plugins_loading: PluginsLoading { enabled: true, search_dirs: LibSearchDirs([Spec(LibSearchSpec { kind: CurrentExeParent, value: None }), Path("."), Path("~/.zenoh/lib"), Path("/opt/homebrew/lib"), Path("/usr/local/lib"), Path("/usr/lib")]) }, plugins: Object {"ros2dds": Object {"allow": Object {"action_clients": Array [], "action_servers": Array [], "publishers": Array [String(".*")], "service_clients": Array [], "service_servers": Array [], "subscribers": Array [String("/racing_kart/joy"), String("/initialpose")]}, "pub_priorities": Array [String("/racing_kart/joy=1:express")], "queries_timeout": Object {"default": Number(2.0)}, "ros_localhost_only": Bool(false)}} })
2024-10-17T12:50:39.693886Z  INFO main ThreadId(01) zenoh::net::runtime: Using ZID: d195fcf5001efa5f57ad2b8c0ea75beb
2024-10-17T12:50:39.694238Z  INFO main ThreadId(01) zenoh::api::loader: Starting required plugin "ros2dds"
2024-10-17T12:50:39.694614Z  INFO main ThreadId(01) zenoh::api::loader: Successfully started plugin ros2dds from "__static_lib__"
2024-10-17T12:50:39.694621Z  INFO main ThreadId(01) zenoh::api::loader: Finished loading plugins
2024-10-17T12:50:39.694646Z  INFO tokio-runtime-worker ThreadId(06) zenoh_plugin_ros2dds: ROS2 plugin Config { namespace: "/", nodename: "zenoh_bridge_ros2dds", domain: 0, ros_localhost_only: false, allowance: Some(Allow(ROS2InterfacesRegex { publishers: Some(Regex("^.*$")), subscribers: Some(Regex("^/racing_kart/joy$|^/initialpose$")), service_servers: None, service_clients: None, action_servers: None, action_clients: None })), pub_max_frequencies: [], transient_local_cache_multiplier: 10, queries_timeout: Some(QueriesTimeouts { default: 2.0, transient_local_subscribers: [], services: [], actions: None }), reliable_routes_blocking: true, pub_priorities: [(Regex("/racing_kart/joy"), (RealTime, true))], work_thread_num: 2, max_block_thread_num: 50, __required__: None, __path__: None }
2024-10-17T12:50:39.694965Z  INFO                 main ThreadId(01) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[2405:6580:b8e0:f00:aa83:75ad:24a9:e59e]:7447
2024-10-17T12:50:39.694981Z  INFO                 main ThreadId(01) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[2405:6580:b8e0:f00:c1d1:6d50:1858:702e]:7447
2024-10-17T12:50:39.694985Z  INFO                 main ThreadId(01) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[fe80::7ce3:cd03:c4bd:bda6]:7447
2024-10-17T12:50:39.694991Z  INFO                 main ThreadId(01) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/192.168.151.100:7447
2024-10-17T12:50:39.695087Z  INFO                 main ThreadId(01) zenoh::net::runtime::orchestrator: zenohd listening scout messages on 224.0.0.224:7446
1729169439.696626 [0] tokio-runt: selected interface "lo" is not multicast-capable: disabling multicast
1729169439.696812 [0] tokio-runt: failed to increase socket receive buffer size to at least 10485760 bytes, current is 425984 bytes
thread 'tokio-runtime-worker' panicked at zenoh-plugin-ros2dds/src/lib.rs:355:14:
Failed to create RosDiscoveryInfoMgr: "Error creating DDS Reader on ros_discovery_info: Precondition Not Met"
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace

[knorrrr]

@taikitanaka3
あれ、なんだろう。
bash docker_build.sh dev cpuは実行されました？

[taikitanaka3]

以下のコマンドで解決できました。ただ、毎回以下を叩いてもらうで良いのかよくわかってないです。

sudo sysctl -w net.core.rmem_max=10485760
sudo sysctl -w net.core.rmem_default=10485760
sudo infconfig lo multicast

[taikitanaka3]

実行はこれですね。

bash docker_build.sh dev 

[knorrrr]

ここらへんの設定もDockerfile書いちゃっても良さそうですね。

[knorrrr]

この3つのパラメータはhostとネットワーク共有してるのと、Kernel系の設定なので、Dockerfileには書けないっぽいですね。
#150 (comment)

再現できてないので詳しくはわかりませんが、
Kernel系はホストと共有するはずなので、ホストの方で設定が必要そうです

[taikitanaka3]

a80ada8

user accountなので、sudo 権限はなかったと思います。
一旦明日どうしたらいいか考えてみます。

[masahiro-kubota]

@taikitanaka3 @knorrrr
実機ではセットアップの段階で設定しています。

INTERNAL LINK

[masahiro-kubota]

@knorrrr @taikitanaka3
ホストで設定する必要がある項目は一旦このPRからは削除して、別PRを作ろうと思います

[masahiro-kubota]

PC2台で片方をコンテナ内からvehicle/run_zenoh.bashで起動し、もう片方をコンテナ内からzenoh-bridge-ros2dds -e "tcp/192.168.1.10:7447"をしてAutowareのトピックをros2 topic echoすることができましたので、Approveします。

[knorrrr]

了解です！