Unable to use GPU via docker(Open AD Kit)

[KTKTKT0401]

I'm having trouble with the performance of rosbag simulation using docker 'devel' image. And I think the this happens because my GPU is not working correctly.

Through the following workflow, I arrived at the hypothesis that the GPU is not functioning properly.

Does anyone have the same issue, or could you please give me some advice?

---Workflow1 -planning simulation---
I tried the planning simulation in the docker 'devel' image.
The simulation looks fine, but below are the results of nvidia-smi and nvcc -V.
It looks like the GPU is not working.

---Workflow2 -rosbag simulation---
When trying to use 'rosbag simulation' at docker 'devel' image, an error occured that '~/autoware_data' does not exists.
I checked inside the docker container, and I could check 'autoware_map' is mounted but 'autoware_data' is not mounted.

So inside the /docker/run.sh, I added a script at docker run command to mount 'autoware_data'(${AUTOWARE_DATA}is the script I added(Path to my autoware_data in my host.)).

The simulation has large latency visualizing lidar pointcloud.
The vehicles and pedestrians are not recognized.
Below are the results of nvidia-smi and nvcc -V.
It looks like the GPU is not working.

PS)
I could activate rosbag simulation without mounting 'autoware_data' when using the launch command discussed in the URL below.
https://github.com/orgs/autowarefoundation/discussions/4775#discussion-6731288

[sasakisasaki]

@KTKTKT0401 Hello! I had the similar issue before: not only the pointcloud topic has huge delay and also the other topics are the same. Perhaps following the Cyclonedds configuration might be needed inside of the docker container.

export ROS_LOCALHOST_ONLY=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
sysctl -w net.core.rmem_max=2147483647
ip link set lo multicast on

Ref. https://autowarefoundation.github.io/autoware-documentation/main/installation/additional-settings-for-developers/network-configuration/dds-settings/

Personally the most effective one was export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp which enables the CycloneDDS. Hopefully this provides some hints for your debug.

[sasakisasaki]

Sorry, there was one missing information in my message.

My proposal would might be effective for the following issue, but not be effective for the issue why the CUDA is not used.

The simulation has large latency visualizing lidar pointcloud.