Revision dccd30dd89ab1a9284e9414cabdcabf10b95f455 authored by Praveen Palanisamy on 29 April 2019, 06:21:15 UTC, committed by Praveen Palanisamy on 03 May 2019, 14:57:05 UTC
Signed-off-by: Praveen Palanisamy <praveen.palanisamy@outlook.com>
1 parent 2732baf
carla_headless.md
<h1>Running CARLA without Display and Selecting GPUs</h1>
!!! note
See [#225](https://github.com/carla-simulator/carla/issues/225) for an
alternative method.
This tutorial is designed for
* Remote server users that have several nvidia graphical cards and want to
effectively use CARLA on all GPUs.
* Desktop users who want to use the GPU that is not plugged on the screen for
rendering CARLA.
On this tutorial you will learn
* How to configure your server to have nvidia working on rendering without a
display attached.
* How to use VNC + VGL to simulate a display connected to any GPU you have in
your machine.
* And Finally, how to run CARLA in this environment
This tutorial was tested in Ubuntu 16.04 and using NVIDIA 384.11 drivers.
## Preliminaries
A few things need to be working in your server before. Latest NVIDIA Drivers,
OpenGL, VirtualGL(VGL), TurboVNC 2.11.
<h4>NVIDIA Drivers</h4>
Download and install [NVIDIA-drivers][nvidialink] with typical tutorials.
[nvidialink]: http://www.nvidia.es/Download/index.aspx
<h4>OpenGL</h4>
Openg GL is necessary for Virtual GL. Normally OpenGL can be installed through
apt.
sudo apt-get install freeglut3-dev mesa-utils
<h4>VGL</h4>
Follow this tutorial and install vgl:
[Installing VGL](https://virtualgl.org/vgldoc/2_2_1/#hd004001)
<h4>TurboVNC</h4>
Follow the tutorial below to install TurboVNC 2.11:
[Installing TurboVNC](https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001)
WARNING: Take care on which VNC you install as it may not be compatible with
Unreal. The one above was the only one that worked for me.
<h4>Extra Packages</h4>
These extra packages were necessary to make unreal to work.
sudo apt install x11-xserver-utils libxrandr-dev
<h4>Configure your X</h4>
You must generate a X compatible with your nvdia and compatible to run without
display. For that, the following command worked:
sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024
## Emulating The Virtual Display
Run your own Xorg. Here I use number 7, but it could be labeled with any free
number
sudo nohup Xorg :7 &
Run an auxiliary remote VNC-Xserver. This will create a virtual display "8".
/opt/TurboVNC/bin/vncserver :8
If everything is working fine the following command should run smoothly.
DISPLAY=:8 vglrun -d :7.0 glxinfo
Note. This will run glxinfo on Xserver 7, device 0. This means you are selecting
the GPU 0 on your machine. To run on other GPU, such as GPU 1 run:
DISPLAY=:8 vglrun -d :7.1 glxinfo
<h4>Extra</h4>
If you want disable the need of sudo when creating the 'nohup Xorg' go to the
'/etc/X11/Xwrapper.config' file and change 'allowed_users=console' to
'allowed_users=anybody'
It may be needed to stop all Xorg servers before running nohup Xorg. The command
for that could change depending on your system. Generally for Ubuntu 16.04 you
should use:
sudo service lightdm stop
## Running CARLA
Now, finally, to run CARLA on a certain gpu_number placed in a certain
$CARLA_PATH, run.
DISPLAY=:8 vglrun -d :7.<gpu_number> $CARLA_PATH/CarlaUE4/Binaries/Linux/CarlaUE4
![swh spinner](/static/img/swh-spinner.gif)
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