docs(ansible): add manual installation steps (autowarefoundation#141)

* docs(ansible): add manual installation steps

Signed-off-by: M. Fatih Cırıt <[email protected]>

* ci(pre-commit): autofix

* add one more line

Signed-off-by: M. Fatih Cırıt <[email protected]>

* fix wording

Signed-off-by: M. Fatih Cırıt <[email protected]>

* add cspell ignore

Signed-off-by: M. Fatih Cırıt <[email protected]>

* make links relative

Signed-off-by: M. Fatih Cırıt <[email protected]>

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

ansible/roles/autoware_core/README.md

@@ -5,3 +5,10 @@ This role installs development/runtime dependencies for Autoware Core.
 ## Inputs
 
 None.
+
+## Manual Installation
+
+```bash
+# Install gdown to download files from CMakeLists.txt
+pip3 install gdown
+```

ansible/roles/autoware_universe/README.md

@@ -5,3 +5,12 @@ This role installs development/runtime dependencies for Autoware Universe.
 ## Inputs
 
 None.
+
+## Manual Installation
+
+```bash
+sudo apt install geographiclib-tools
+
+# Add EGM2008 geoid grid to geographiclib
+sudo geographiclib-get-geoids egm2008-1
+```

ansible/roles/cuda/README.md

@@ -7,3 +7,30 @@ This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) fol
 | Name         | Required | Description                  |
 | ------------ | -------- | ---------------------------- |
 | cuda_version | true     | The version of CUDA Toolkit. |
+
+## Manual Installation
+
+Follow these instructions to download and install the CUDA Toolkit and the corresponding NVIDIA Driver for Ubuntu 20.04.
+
+For Universe, the `cuda_version` version can also be found in:
+[../../playbooks/universe.yaml](../../playbooks/universe.yaml)
+
+```bash
+# Modified from:
+# https://developer.nvidia.com/cuda-11-4-4-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=20.04&target_type=deb_network
+wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin
+sudo mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600
+sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/7fa2af80.pub
+sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /"
+sudo apt-get update
+cuda_version=11-4
+sudo apt install cuda-${cuda_version} --no-install-recommends
+```
+
+Perform the post installation actions:
+
+```bash
+# Taken from: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions
+echo 'export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}' >> ~/.bashrc
+echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}' >> ~/.bashrc
+```

ansible/roles/docker/README.md

@@ -13,3 +13,128 @@ Also, it installs some additional tools:
 | Name                   | Required | Description                    |
 | ---------------------- | -------- | ------------------------------ |
 | docker_compose_version | false    | The version of Docker Compose. |
+
+## Manual Installation
+
+Install Docker Engine and perform the post-installation steps:
+
+```bash
+# Taken from: https://docs.docker.com/engine/install/ubuntu/
+# And: https://docs.docker.com/engine/install/linux-postinstall/
+
+# Uninstall old versions
+sudo apt-get remove docker docker-engine docker.io containerd runc
+
+# Install using the repository
+sudo apt-get update
+
+sudo apt-get install \
+    ca-certificates \
+    curl \
+    gnupg \
+    lsb-release
+
+# Add Docker’s official GPG key:
+curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
+
+# Install Docker Engine
+sudo apt-get update
+sudo apt-get install docker-ce docker-ce-cli containerd.io
+
+# Verify that Docker Engine is installed correctly by running the hello-world image.
+sudo docker run hello-world
+# Note: This command downloads a test image and runs it in a container. When the container runs, it prints a message and exits.
+
+# Post-installation steps for Linux
+
+# Create the docker group.
+sudo groupadd docker
+
+# Add your user to the docker group.
+sudo usermod -aG docker $USER
+
+# Log out and log back in so that your group membership is re-evaluated.
+
+# Verify that you can run docker commands without sudo
+docker run hello-world
+# Note: This command downloads a test image and runs it in a container. When the container runs, it prints a message and exits.
+```
+
+Install Nvidia Container Toolkit:
+
+<!-- cspell:ignore Disp, Uncorr -->
+
+```bash
+# Taken from https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#setting-up-nvidia-container-toolkit
+
+# Setup the package repository and the GPG key:
+distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
+      && curl -s -L https://nvidia.github.io/libnvidia-container/gpgkey | sudo apt-key add - \
+      && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+
+# Install the nvidia-docker2 package (and dependencies) after updating the package listing:
+sudo apt-get update
+sudo apt-get install -y nvidia-docker2
+
+# Restart the Docker daemon to complete the installation after setting the default runtime:
+sudo systemctl restart docker
+
+# At this point, a working setup can be tested by running a base CUDA container:
+sudo docker run --rm --gpus all nvidia/cuda:11.0-base nvidia-smi
+
+# This should result in a console output shown below:
+# +-----------------------------------------------------------------------------+
+# | NVIDIA-SMI 450.51.06    Driver Version: 450.51.06    CUDA Version: 11.0     |
+# |-------------------------------+----------------------+----------------------+
+# | 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  Tesla T4            On   | 00000000:00:1E.0 Off |                    0 |
+# | N/A   34C    P8     9W /  70W |      0MiB / 15109MiB |      0%      Default |
+# |                               |                      |                  N/A |
+# +-------------------------------+----------------------+----------------------+
+#
+# +-----------------------------------------------------------------------------+
+# | Processes:                                                                  |
+# |  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
+# |        ID   ID                                                   Usage      |
+# |=============================================================================|
+# |  No running processes found                                                 |
+# +-----------------------------------------------------------------------------+
+```
+
+Install Docker Compose:
+
+The `docker_compose_version` can also be found in:
+[./defaults/main.yaml](./defaults/main.yaml)
+
+```bash
+# Modified from: https://docs.docker.com/compose/cli-command/#install-on-linux
+
+# Run this command to download the Docker Compose:
+docker_compose_version=v2.2.2
+sudo curl -SL https://github.com/docker/compose/releases/download/${docker_compose_version}/docker-compose-$(uname -s)-$(uname -m) -o /usr/local/bin/docker-compose
+
+# Apply executable permissions to the binary:
+sudo chmod +x /usr/local/bin/docker-compose
+
+# Test the installation.
+docker-compose --version
+```
+
+Install rocker:
+
+```bash
+# Taken from: https://github.com/osrf/rocker#installation
+
+# Add the ROS 2 apt repository to your system. First authorize our GPG key with apt.
+sudo apt update && sudo apt install curl gnupg lsb-release
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+# Then add the repository to your sources list.
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+sudo apt update
+sudo apt-get install python3-rocker
+```

ansible/roles/pacmod/README.md

@@ -7,3 +7,17 @@ This role sets up the prerequisites to install pacmod3_msgs following [this page
 | Name      | Required | Description     |
 | --------- | -------- | --------------- |
 | rosdistro | true     | The ROS distro. |
+
+## Manual Installation
+
+For Universe, the `rosdistro` variable can also be found in:
+[../../playbooks/universe.yaml](../../playbooks/universe.yaml)
+
+```bash
+# Taken from https://github.com/astuff/pacmod3#installation
+sudo apt install apt-transport-https
+sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
+sudo apt update
+rosdistro=galactic
+sudo apt install ros-${rosdistro}-pacmod3
+```

ansible/roles/pre_commit/README.md

@@ -7,3 +7,17 @@ This role installs dependent tools for [pre-commit](https://pre-commit.com/).
 | Name                 | Required | Description                 |
 | -------------------- | -------- | --------------------------- |
 | clang_format_version | false    | The version of ClangFormat. |
+
+## Manual Installation
+
+The `clang_format_version` variable can also be found in:
+[./defaults/main.yaml](./defaults/main.yaml)
+
+```bash
+clang_format_version=13.0.0
+pip3 install pre-commit clang-format==${clang_format_version}
+
+# Install Golang (Add Go PPA for shfmt)
+sudo add-apt-repository ppa:longsleep/golang-backports
+sudo apt install golang
+```

ansible/roles/rmw_implementation/README.md

@@ -8,3 +8,20 @@ This role sets up ROS 2 RMW implementation following [this page](https://docs.ro
 | ------------------ | -------- | ------------------- |
 | rosdistro          | true     | The ROS distro.     |
 | rmw_implementation | true     | RMW implementation. |
+
+## Manual Installation
+
+For Universe, the `rosdistro` and `rmw_implementation` variable can also be found in:
+[../../playbooks/universe.yaml](../../playbooks/universe.yaml)
+
+```bash
+# For details: https://docs.ros.org/en/galactic/How-To-Guides/Working-with-multiple-RMW-implementations.html
+sudo apt update
+rosdistro=galactic
+rmw_implementation=rmw_cyclonedds_cpp
+rmw_implementation_dashed=$(eval sed -e "s/_/-/g" <<< "${rmw_implementation}")
+sudo apt install ros-${rosdistro}-${rmw_implementation_dashed}
+
+# (Optional) You set the default RMW implementation in the ~/.bashrc file.
+echo '' >> ~/.bashrc && echo "export RMW_IMPLEMENTATION=${rmw_implementation}" >> ~/.bashrc
+```

ansible/roles/ros2/README.md

@@ -20,3 +20,46 @@ $ apt-cache policy | grep universe
 | ----------------- | -------- | ------------------------------------------------ |
 | rosdistro         | true     | The ROS distro.                                  |
 | installation_type | false    | The installation type (`desktop` or `ros-base`). |
+
+## Manual Installation
+
+The `installation_type` variable can also be found in:
+[./defaults/main.yaml](./defaults/main.yaml)
+
+For Universe, the `rosdistro` variable can also be found in:
+[../../playbooks/universe.yaml](../../playbooks/universe.yaml)
+
+```bash
+# Taken from: https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html
+
+# You will need to add the ROS 2 apt repository to your system. First, make sure that the Ubuntu Universe repository is enabled by checking the output of this command.
+apt-cache policy | grep universe
+
+# The output of the above command should contain following:
+
+# 500 http://us.archive.ubuntu.com/ubuntu focal/universe amd64 Packages
+#     release v=20.04,o=Ubuntu,a=focal,n=focal,l=Ubuntu,c=universe,b=amd64
+
+# If you don’t see an output line like the one above, then enable the Universe repository with these instructions.
+sudo apt install software-properties-common
+sudo add-apt-repository universe
+
+# Now add the ROS 2 apt repository to your system. First authorize our GPG key with apt.
+sudo apt update && sudo apt install curl gnupg lsb-release
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+# Then add the repository to your sources list.
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Update your apt repository caches after setting up the repositories.
+sudo apt update
+
+# Desktop Install
+rosdistro=galactic
+installation_type=desktop
+sudo apt install ros-${rosdistro}-${installation_type}
+
+# Environment setup
+# (Optional) You can source ros2 in the ~/.bashrc file.
+echo '' >> ~/.bashrc && echo "source /opt/ros/${rosdistro}/setup.bash" >> ~/.bashrc
+```

ansible/roles/ros2_dev_tools/README.md

@@ -5,3 +5,40 @@ This role installs ROS 2 development tools following [this page](https://docs.ro
 ## Inputs
 
 None.
+
+## Manual Installation
+
+```bash
+# Taken from https://docs.ros.org/en/galactic/Installation/Ubuntu-Development-Setup.html
+sudo apt update && sudo apt install -y \
+  build-essential \
+  cmake \
+  git \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-pip \
+  python3-pytest-cov \
+  python3-rosdep \
+  python3-setuptools \
+  python3-vcstool \
+  wget
+
+# Install some pip packages needed for testing
+python3 -m pip install -U \
+  flake8-blind-except \
+  flake8-builtins \
+  flake8-class-newline \
+  flake8-comprehensions \
+  flake8-deprecated \
+  flake8-docstrings \
+  flake8-import-order \
+  flake8-quotes \
+  pytest-repeat \
+  pytest-rerunfailures \
+  pytest \
+  setuptools
+
+# Initialize rosdep
+sudo rosdep init
+rosdep update
+```

ansible/roles/tensorrt/README.md

@@ -8,3 +8,20 @@ This role installs TensorRT and cuDNN following [this page](https://docs.nvidia.
 | ---------------- | -------- | ------------------------ |
 | cudnn_version    | true     | The version of cuDNN.    |
 | tensorrt_version | true     | The version of TensorRT. |
+
+## Manual Installation
+
+For Universe, the `cudnn_version` and `tensorrt_version` variable can also be found in:
+[../../playbooks/universe.yaml](../../playbooks/universe.yaml)
+
+```bash
+# Taken from: https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing
+
+cudnn_version="8.2.2.26-1+cuda11.4"
+sudo apt-get install libcudnn8=${cudnn_version} libcudnn8-dev=${cudnn_version}
+sudo apt-mark hold libcudnn8 libcudnn8-dev
+
+tensorrt_version="8.2.2-1+cuda11.4"
+sudo apt-get install libnvinfer8=${tensorrt_version} libnvonnxparsers8=${tensorrt_version} libnvparsers8=${tensorrt_version} libnvinfer-plugin8=${tensorrt_version} libnvinfer-dev=${tensorrt_version} libnvonnxparsers-dev=${tensorrt_version} libnvparsers-dev=${tensorrt_version} libnvinfer-plugin-dev=${tensorrt_version} python3-libnvinfer=${tensorrt_version}
+sudo apt-mark hold libnvinfer8 libnvonnxparsers8 libnvparsers8 libnvinfer-plugin8 libnvinfer-dev libnvonnxparsers-dev libnvparsers-dev libnvinfer-plugin-dev python3-libnvinfer
+```