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Gosim Hackathon 2024

Repository for managing the GOSIM Hackathon 2024

To start on your own computer

Install dora-rs from the latest prerelease v0.3.7-rc0

curl --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/dora-rs/dora/main/install.sh | bash -s -- --tag v0.3.7rc0

source ~/.bashrc

If this is successful, you should be able to:

dora --help

Leader Dora Daemon Linux Service

  • Then you should create a dora daemon service
chmod +x ./scripts/start_leader_dora_daenon_service.sh
./scripts/start_leader_dora_daenon_service.sh

If this is successful, you should not have error when calling:

sudo systemctl status dora-daemon.service

Return:

● dora-daemon.service
     Loaded: loaded (/etc/systemd/system/dora-daemon.service; enabled; preset: enabled)
     Active: active (running) since Tue 2024-10-15 00:25:58 CEST; 13min ago
   Main PID: 256635 (dora)
      Tasks: 34 (limit: 37374)
     Memory: 3.2M
        CPU: 122ms
     CGroup: /system.slice/dora-daemon.service
             └─256635 dora daemon --inter-daemon-addr 0.0.0.0:20001

Leader Dora Coordinator Linux Service

  • Then you should create a dora coordinator service
chmod +x ./scripts/start_leader_dora_coordinator_service.sh
./scripts/start_leader_dora_coordinator_service.sh

If this is successful, you should not have error when calling:

sudo systemctl status dora-coordinator.service

Return:

● dora-coordinator.service
     Loaded: loaded (/etc/systemd/system/dora-coordinator.service; enabled; preset: enabled)
     Active: active (running) since Tue 2024-10-15 00:54:12 CEST; 2s ago
   Main PID: 315394 (dora)
      Tasks: 34 (limit: 37374)
     Memory: 3.2M
        CPU: 62ms
     CGroup: /system.slice/dora-coordinator.service
             └─315394 dora coordinator

Oct 15 00:54:12 peter-rog systemd[1]: Started dora-coordinator.service.
Oct 15 00:54:12 peter-rog bash[315394]: Listening for incoming daemon connection on 53290

OrangePi Installation

  • Get the installation script either from 192.168.3.5
wget 192.168.3.5:8000/gosim-2024/install_orangepi.sh
chmod +x install_orangepi.sh
./install_orangepi.sh
source ~/.bashrc

If this is successful, you should be able to:

dora --help

Follower Dora Daemon Linux Service

  • Then you should create a dora daemon service
wget 192.168.3.5:8000/gosim-2024/start_follower_dora_daenon_service.sh
chmod +x start_follower_dora_daenon_service.sh
./start_follower_dora_daenon_service.sh

If this is successful, you should not have error when calling:

sudo systemctl status dora-daemon.service

Return:

● dora-daemon.service
     Loaded: loaded (/etc/systemd/system/dora-daemon.service; enabled; preset: enabled)
     Active: active (running) since Tue 2024-10-15 00:25:58 CEST; 13min ago
   Main PID: 256635 (dora)
      Tasks: 34 (limit: 37374)
     Memory: 3.2M
        CPU: 122ms
     CGroup: /system.slice/dora-daemon.service
             └─256635 dora daemon --inter-daemon-addr 0.0.0.0:20002

Follower SSH Linux Service

  • Then you should create a ssh service
export [email protected]
ssh-copy-id $SSH_CONNECTION
chmod +x ./scripts/start_ssh_service.sh
./scripts/start_ssh_service.sh

If this is successful, you should not have error when calling:

sudo systemctl status ssh-client.service
● ssh-client.service
     Loaded: loaded (/etc/systemd/system/ssh-client.service; enabled; vendor preset: enabled)
     Active: active (running) since Tue 2024-10-15 11:05:06 CST; 1h 44min ago
   Main PID: 4302 (ssh)
      Tasks: 1 (limit: 27120)
     Memory: 2.2M
     CGroup: /system.slice/ssh-client.service
             └─4302 ssh -N [email protected] -L 53290:0.0.0.0:53290 -R 20001:0.0.0.0:20001 -L 20002:0.0.0.0:20002

SSH Connection to the cloud from the Orange Pi

Now you should be able to connect to the cloud from any computers

ssh [email protected] -p 30773

Make sure to update the port "30773" to your port

Cloud Installation

# if not already present
git clone https://github.com/dora-rs/gosim-2024
cd gosim-2024
curl --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/dora-rs/dora/main/install.sh | bash -s -- --tag v0.3.7rc0

source ~/.bashrc

Testing Hardware

Testing cameras
## Within the orangepi
ls /dev/video*

If you connected 2 cameras properly, this should return

/dev/video0  /dev/video1 /dev/video2  /dev/video3
Testing car

Run:

## Within the orangepi
robot

If the installation is successful, you should get:

Error: env variable DORA_NODE_CONFIG must be set. Are you sure your using `dora start`?

Caused by:
    environment variable not found

Location:
    /home/HwHiAiUser/.cargo/registry/src/index.crates.io-6f17d22bba15001f/dora-node-api-0.3.6/src/node/mod.rs:67:57

If not you should try:

sudo chmod 777 /dev/ttyUSB0

If you get serial connect fail means that there is a problem with the board.

Cloud Usage

cd gosim-2024
# Do it once

./scripts/setup_cloud.sh

dora start qwenvl2_recorder.yml

Training

cd $HOME/LLaMA-Factory

vim examples/train_lora/qwen2vl_lora_sft.yaml
# Modify the file to use the dataset you just created

llamafactory-cli train examples/train_lora/qwen2vl_lora_sft.yaml