[Docker] Autoware.universe requires kvaser-interface about autoware

[wep21]

Also, we have to do a trick to use kvaser usb as socketcan interface.

sudo modprobe kvaser_usb
<- unplug and plug kvaser usb here
sudo ip link set can0 up type can bitrate 50000

[wep21]

We have never used ros2_socketcan on autonomostuff vehicle, so we have to test it on the real vehicle before migrating to ros2_socketcan.

[kenji-miyake]

@IshitaTakeshi Please describe for what reasons you need kvaser-interface.
Also, is it impossible to replace it with https://github.com/autowarefoundation/ros2_socketcan?

It seems Kvaser devices supports SocketCAN.
https://www.kvaser.com/socketcan-support-for-kvaser-devices-updated/

[kenji-miyake]

Okay, then I think we should test it. If it won't work we'll import the role from here.
https://github.com/tier4/AutowareArchitectureProposal.proj/blob/474da436880f93bd59d87107bd9d83254b0cd9b3/ansible/roles/pacmod/tasks/kvaser_library.yml

[kenji-miyake]

Thank you. I think it can be supported by some setup scripts for real vehicles.

[IshitaTakeshi]

This is the reason to add kvaser-interface to the requirements. When launching the logging simulator it says that kvaser_interface cannot be found.

root@87a3663a4a81:/autoware# source install/setup.bash 
root@87a3663a4a81:/autoware# ros2 launch tier4_autoware_launch logging_simulator.launch.xml sensor_model:=aip_xx1 map_path:=/dataset/kashiwanoha/ vehicle_model:=lexus
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-01-19-09-21-13-992999-87a3663a4a81-60
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'kvaser_interface' not found,

[kenji-miyake]

Why do you need kvaser-interface for the launch file?
Do you use a physical CAN in the simulation?

[IshitaTakeshi]

Not sure so I grep-ed in the workspace directory and got the following

# find . -type f | xargs grep kvaser_interface
./src/vehicle/lexus_launch/launch/pacmod3.launch.py:            package='kvaser_interface',
./install/lexus_description/share/lexus_description/launch/pacmod3.launch.py:            package='kvaser_interface',

Apparently pacmod3 requires it.

[kenji-miyake]

I know it has the dependency, but my question is, why do you have to launch the node in the simulation?

[IshitaTakeshi]

What node do you refer to?

My current task is to improve the localization accuracy and availability so basically I don't need to launch all the nodes under the logging simulator, but for me, who doesn't know that much about the Autoware architecture, it is easier to launch the logging simulator than disabling unnecessary nodes.

[kenji-miyake]

What node do you refer to?

Probably this?
https://github.com/tier4/lexus_description.iv/blob/4a3a06e297f85a737d2b5879b508843b2998038a/launch/pacmod3_with_kvaser-node-launch.py

but for me, who doesn't know that much about the Autoware architecture,

I believe it's better that you'll get familiar with Autoware and do appropriate handling!
I guess, for example, we need to add an option of whether to launch kvaser-interface, to this file.

[IshitaTakeshi]

Okay, but at least as an OSS it should be much better the logging simulator always works fine so when merging the Dockerfile to the default branch we should disable the node depending on kvaser-interface (or install kvaser-interface), otherwise users will regard autoware as just useless.

[kenji-miyake]

@IshitaTakeshi Regarding that, I believe we should consider replacing kvaser-interface by ros2_socketcan.
#2417

Please understand that adding everything isn't always correct.

[kenji-miyake]

Acceptance Criteria:

• Consider replacing kvaser-interface by ros2_socketcan.
  We need to evaluate ros2_socketcan with Kvaser devices to do that.

Or,

• Consider removing kvaser-interface from logging_simulator.launch.xml.
  Essentially, no hardware is required for the simulation.

[xczhanjun]

Acceptance Criteria:

• Consider replacing kvaser-interface by ros2_socketcan.
  We need to evaluate ros2_socketcan with Kvaser devices to do that.

Or,

• Consider removing kvaser-interface from logging_simulator.launch.xml.
  Essentially, no hardware is required for the simulation.
  Maybe we should remove kvaser-interface from logging_simulator.launch.xml and using ros2_socketcan. We can setup a fake socket can interface when doing simulation.

[kenji-miyake]

Since I've created https://github.com/autowarefoundation/sample_vehicle_launch that doesn't depend on kvaser or pacmod, I'll close this.