template.yml

AWSTemplateFormatVersion: 2010-09-09
Description: CARLA Simulator Ubuntu with NICE DCV (login as ubuntu)
Metadata:
  License:
    Description: |
      Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved. SPDX-License-Identifier: MIT-0
      Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so.
      THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  AWS::CloudFormation::Interface:
    ParameterGroups:
      - Label:
          default: Instance type
        Parameters:
          - ImageId
          - instanceType
      - Label:
          default: EC2 configuration
        Parameters:
          - ec2Name
      - Label:
          default: EBS volume configuration
        Parameters:
          - volumeSize
          - volumeType
      - Label:
          default: Biga configuration
        Parameters:
          - BigaAmiId
          - BigaInstanceType
Parameters:
  instanceType:
    Type: String
    Description: Accelerated Instance Type ( https://docs.aws.amazon.com/AWSEC2/latest/UserGuide/accelerated-computing-instances.html )
    AllowedValues:
      - g4dn.xlarge
      - g4dn.2xlarge
      - g4dn.4xlarge
      - g4dn.8xlarge
      - g4dn.12xlarge
      - g4dn.16xlarge
      - g5.xlarge
      - g5.2xlarge
      - g5.4xlarge
      - g5.8xlarge
      - g5.12xlarge
      - g5.16xlarge
    ConstraintDescription: Must contain valid instance type.
    Default: g5.16xlarge
  ec2Name:
    Description: EC2 instance name
    Type: String
    Default: Ubuntu-CARLA-NICE-DCV
  volumeType:
    Type: String
    Description: Volume Type ( https://docs.aws.amazon.com/AWSEC2/latest/UserGuide/ebs-volume-types.html )
    AllowedValues:
      - gp2
      - gp3
    Default: gp3
  volumeSize:
    Type: Number
    Description: Volume Size in GiBs (must be equal or larger than snapshot size)
    Default: 40
  ImageId:
    Type: AWS::SSM::Parameter::Value<AWS::EC2::Image::Id>
    Description: Ubuntu 20.04 (x86_64)
    Default: /aws/service/canonical/ubuntu/server/20.04/stable/current/amd64/hvm/ebs-gp2/ami-id
  BigaAmiId:
    Type: AWS::EC2::Image::Id
    Description: The Biga ami image id
  BigaInstanceType:
    Type: String
    Description: Instance type for the biga image
    Default: t4g.micro
  BigaInstanceName:
    Type: String
    Description: Name of Biga Instance
    Default: Biga

Resources:
  vpc:
    Type: AWS::EC2::VPC
    Properties:
      CidrBlock: 10.0.0.0/16
      EnableDnsSupport: true

  PrivateSubnet1:
    Type: AWS::EC2::Subnet
    Properties:
      CidrBlock: 10.0.1.0/24
      AvailabilityZone: !Select [0, !GetAZs '']
      VpcId: !Ref vpc
  PrivateSubnet2:
    Type: AWS::EC2::Subnet
    Properties:
      CidrBlock: 10.0.2.0/24
      AvailabilityZone: !Select [1, !GetAZs '']
      VpcId: !Ref vpc
  PublicSubnet:
    Type: AWS::EC2::Subnet
    Properties:
      CidrBlock: 10.0.3.0/24
      AvailabilityZone: !Select [0, !GetAZs '']
      VpcId: !Ref vpc
      MapPublicIpOnLaunch: true

  InternetGateway:
    Type: AWS::EC2::InternetGateway
  InternetGatewayAttachment:
    Type: AWS::EC2::VPCGatewayAttachment
    Properties:
      VpcId: !Ref vpc
      InternetGatewayId: !Ref InternetGateway

  PublicRouteTable:
    Type: AWS::EC2::RouteTable
    Properties:
      VpcId: !Ref vpc
  PublicRoute:
    Type: AWS::EC2::Route
    Properties:
      RouteTableId: !Ref PublicRouteTable
      DestinationCidrBlock: 0.0.0.0/0
      GatewayId: !Ref InternetGateway
  PublicSubnetRouteTableAssociation:
    Type: AWS::EC2::SubnetRouteTableAssociation
    Properties:
      RouteTableId: !Ref PublicRouteTable
      SubnetId: !Ref PublicSubnet

  NatIP:
    Type: AWS::EC2::EIP
    DependsOn: vpc
    Properties:
      Domain: vpc
  NatGateway:
    Type: AWS::EC2::NatGateway
    Properties:
      AllocationId: !GetAtt NatIP.AllocationId
      SubnetId: !Ref PublicSubnet

  PrivateRouteTable:
    Type: AWS::EC2::RouteTable
    Properties:
      VpcId: !Ref vpc
  PrivateRoute:
    Type: AWS::EC2::Route
    Properties:
      RouteTableId: !Ref PrivateRouteTable
      DestinationCidrBlock: 0.0.0.0/0
      NatGatewayId: !Ref NatGateway
  PrivateSubnetRouteTableAssocation:
    Type: AWS::EC2::SubnetRouteTableAssociation
    Properties:
      SubnetId: !Ref PrivateSubnet1
      RouteTableId: !Ref PrivateRouteTable
  PrivateSubnet2RouteTableAssociation:
    Type: AWS::EC2::SubnetRouteTableAssociation
    Properties:
      SubnetId: !Ref PrivateSubnet2
      RouteTableId: !Ref PrivateRouteTable



  BigaSecurityGroup:
    Type: AWS::EC2::SecurityGroup
    Properties:
      GroupDescription: Allow Traffic From Carla
      VpcId: !Ref vpc
      SecurityGroupIngress:
        - IpProtocol: tcp
          Description: SSH
          FromPort: "22"
          ToPort: "22"
        - IpProtocol: udp
          Description: Ingress multicast traffic (UDP)
          FromPort: '0'
          ToPort: '65535'
          CidrIp: 10.0.0.0/16
        - IpProtocol: 2
          Description: IGMP Receivers
          CidrIp: 10.0.0.0/16
        - IpProtocol: 2
          Description: IGMP Querier
          CidrIp: 0.0.0.0/32
      SecurityGroupEgress:
        - IpProtocol: all
          Description: Egress multicast traffic (UDP)
          FromPort: '0'
          ToPort: '65535'
          CidrIp: 0.0.0.0/0
      Tags:
        - Key: StackName
          Value: !Sub ${AWS::StackName}
        - Key: StackId
          Value: !Sub ${AWS::StackId}
        - Key: Name
          Value: !Sub "[${AWS::StackName}] - ${ec2Name}"
  instanceIamRole:
    Type: AWS::IAM::Role
    Properties:
      AssumeRolePolicyDocument:
        Statement:
          - Effect: Allow
            Principal:
              Service:
                - ec2.amazonaws.com
            Action:
              - sts:AssumeRole
      Path: /
      Policies:
        - PolicyName: dcvLicensing
          PolicyDocument:
            Version: "2012-10-17"
            Statement:
              - Effect: Allow
                Action:
                  - s3:GetObject
                Resource: !Sub arn:${AWS::Partition}:s3:::dcv-license.${AWS::Region}/*
      ManagedPolicyArns:
        - !Sub arn:${AWS::Partition}:iam::aws:policy/AmazonSSMManagedInstanceCore
      Tags:
        - Key: StackName
          Value: !Sub ${AWS::StackName}
        - Key: StackId
          Value: !Sub ${AWS::StackId}
  instanceProfile:
    Type: AWS::IAM::InstanceProfile
    Properties:
      Path: /
      Roles:
        - !Ref instanceIamRole
  Ec2InstanceCarlaNetworkInterface:
    Type: AWS::EC2::NetworkInterface
    Properties:
      SubnetId: !Ref PrivateSubnet2
      Description: "Network interface for ec2InstanceCarla"
      GroupSet:
        - !Ref BigaSecurityGroup
  ec2InstanceCarla:
    Type: AWS::EC2::Instance
    CreationPolicy:
      ResourceSignal:
        Timeout: PT90M
    Metadata:
      Comment: Install Desktop Environment
      AWS::CloudFormation::Init:
        configSets:
          setup:
            - 00_setup
        00_setup:
          files:
            /home/ubuntu/update-dcv:
              content: |
                #!/bin/bash
                cd /tmp
                if ((uname -a | grep x86 1>/dev/null) && (cat /etc/os-release | grep 22.04 1>/dev/null)); then
                  rm -f /tmp/nice-dcv-ubuntu1804-x86_64.tgz
                  wget https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu2204-x86_64.tgz
                  tar -xvzf nice-dcv-ubuntu*.tgz && cd nice-dcv-*-x86_64
                elif ((uname -a | grep x86 1>/dev/null) && (cat /etc/os-release | grep 18.04 1>/dev/null)); then
                  rm -f /tmp/nice-dcv-ubuntu1804-x86_64.tgz
                  wget https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu1804-x86_64.tgz
                  tar -xvzf nice-dcv-ubuntu*.tgz && cd nice-dcv-*-x86_64
                elif (cat /etc/os-release | grep 18.04 1>/dev/null); then
                  rm -f /tmp/nice-dcv-ubuntu1804-aarch64.tgz
                  wget https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu1804-aarch64.tgz
                  tar -xvzf nice-dcv-ubuntu*.tgz && cd nice-dcv-*-aarch64
                else
                  rm -f /tmp/nice-dcv-ubuntu2004-x86_64.tgz
                  wget https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu2004-x86_64.tgz
                  tar -xvzf nice-dcv-ubuntu*.tgz && cd nice-dcv-*-x86_64
                fi
                sudo apt-get install -y ./nice-dcv-server_*.deb
                sudo apt-get install -y ./nice-dcv-web-viewer_*.deb
                sudo apt-get install -y ./nice-xdcv_*.deb
              mode: "000755"
              owner: ubuntu
              group: users
            /home/ubuntu/update-awscli:
              content: |
                #!/bin/bash
                cd /tmp
                rm -f /tmp/awscliv2.zip
                if (uname -a | grep x86 1>/dev/null); then
                  curl https://awscli.amazonaws.com/awscli-exe-linux-x86_64.zip -o awscliv2.zip
                else
                  curl https://awscli.amazonaws.com/awscli-exe-linux-aarch64.zip -o awscliv2.zip
                fi
                unzip -q -o awscliv2.zip
                sudo ./aws/install --update -b /usr/bin
              mode: "000755"
              owner: ubuntu
              group: users
            /home/ubuntu/install-carla:
              content: |
                #!/bin/bash
                # install Python3.8 as default
                sudo add-apt-repository ppa:deadsnakes/ppa -y
                sudo apt-get update
                sudo apt-get -q -y install python3.8 python3.8-dev python3.8-venv python3.8-distutils
                sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
                sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
                sudo add-apt-repository -y "deb [arch=amd64] http://dist.carla.org/carla focal main"
                sudo apt-get update
                sudo apt-get -y install libomp5 carla-simulator
                python -m ensurepip --upgrade
                python -m venv ~/venv
                source ~/venv/bin/activate
                python -m pip install --upgrade pip
                python -m pip install carla==0.9.13
                python -m pip install -r /opt/carla-simulator/PythonAPI/examples/requirements.txt
                sudo apt-get -y install can-utils socat linux-modules-extra-$(uname -r)
              mode: "000755"
              owner: ubuntu
              group: users
            /home/ubuntu/install-ros2:
              content: |
                #!/bin/bash
                sudo apt update && sudo apt install -y locales
                sudo locale-gen en_US en_US.UTF-8
                sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
                export LANG=en_US.UTF-8
                sudo apt install -y software-properties-common
                sudo add-apt-repository universe
                sudo apt update && sudo apt install -y curl
                sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
                echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
                sudo apt update
                sudo apt install -y ros-galactic-desktop python3-rosdep2 python3-colcon-common-extensions
              mode: "000755"
              owner: ubuntu
              group: users
    Properties:
      ImageId: !Ref ImageId
      InstanceType: !Ref instanceType
      IamInstanceProfile: !Ref instanceProfile
      Monitoring: true
      NetworkInterfaces:
        - NetworkInterfaceId: !Ref Ec2InstanceCarlaNetworkInterface
          DeviceIndex: "0"
      BlockDeviceMappings:
        - DeviceName: /dev/sda1
          Ebs:
            VolumeType: !Ref volumeType
            VolumeSize: !Ref volumeSize
            DeleteOnTermination: true
      UserData: !Base64
        Fn::Sub: |
          #!/bin/bash
          cd /root/
          # https://stackoverflow.com/questions/33370297/apt-get-update-non-interactive
          export DEBIAN_FRONTEND=noninteractive
          apt-get update
          # https://docs.aws.amazon.com/systems-manager/latest/userguide/agent-install-ubuntu.html#agent-install-ubuntu-tabs
          apt-get install -q -y python-setuptools wget tmux unzip tar curl sed
          # https://docs.aws.amazon.com/AWSCloudFormation/latest/UserGuide/releasehistory-aws-cfn-bootstrap.html#releasehistory-aws-cfn-bootstrap-v1
          wget -nv https://s3.amazonaws.com/cloudformation-examples/aws-cfn-bootstrap-1.4-34.tar.gz
          tar -xvzf ./aws-cfn-bootstrap-1.4-34.tar.gz
          cd aws-cfn-bootstrap-1.4
          python2 setup.py build
          python2 setup.py install
          # cfn-init
          python2 /usr/local/bin/cfn-init -v --stack ${AWS::StackName} --resource ec2InstanceCarla --region ${AWS::Region} -c setup
          # install firefox browser
          apt-get -q -y install firefox
          # https://docs.aws.amazon.com/dcv/latest/adminguide/setting-up-installing-linux-prereq.html
          systemctl isolate multi-user.target
          apt-get -q -y install ubuntu-desktop
          apt-get -q -y install gdm3
          apt-get -q -y install pulseaudio-utils
          # resolve "/var/lib/dpkg/info/nice-dcv-server.postinst: 8: dpkg-architecture: not found" when installing dcv-server
          apt-get -q -y install dpkg-dev
          sed -i "s/^#WaylandEnable=false/WaylandEnable=false/g" /etc/gdm3/custom.conf
          # https://docs.aws.amazon.com/dcv/latest/adminguide/setting-up-installing-linux-server.html
          wget -nv https://d1uj6qtbmh3dt5.cloudfront.net/NICE-GPG-KEY
          gpg --import NICE-GPG-KEY
          # https://docs.aws.amazon.com/dcv/latest/adminguide/setting-up-installing-linux-server.html#linux-server-install
          if ((uname -a | grep x86 1>/dev/null) && (cat /etc/os-release | grep 22.04 1>/dev/null)); then
            wget -nv https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu2204-x86_64.tgz
            tar -xvzf nice-dcv-ubuntu*.tgz && cd nice-dcv-*-x86_64
          elif ((uname -a | grep x86 1>/dev/null) && (cat /etc/os-release | grep 18.04 1>/dev/null)); then
            wget -nv https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu1804-x86_64.tgz
            tar -xvzf nice-dcv-ubuntu*.tgz && cd nice-dcv-*-x86_64
          elif (cat /etc/os-release | grep 18.04 1>/dev/null); then
            wget -nv https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu1804-aarch64.tgz
            tar -xvzf nice-dcv-ubuntu*.tgz && cd nice-dcv-*-aarch64
          else
            wget -nv https://d1uj6qtbmh3dt5.cloudfront.net/nice-dcv-ubuntu2004-x86_64.tgz
            tar -xvzf nice-dcv-ubuntu*.tgz && cd nice-dcv-*-x86_64
          fi
          apt-get -q -y install ./nice-dcv-server_*.deb
          apt-get -q -y install ./nice-dcv-web-viewer_*.deb
          usermod -aG video dcv
          apt-get -q -y install ./nice-xdcv_*.deb
          # https://docs.aws.amazon.com/dcv/latest/adminguide/enable-quic.html
          cp /etc/dcv/dcv.conf /etc/dcv/dcv.conf.org
          sed -i '/^\[connectivity/a enable-quic-frontend=true' /etc/dcv/dcv.conf
          # session storage: https://docs.aws.amazon.com/dcv/latest/userguide/using-transfer.html
          mkdir -p /home/ubuntu/DCV-Storage
          chown -R ubuntu:ubuntu /home/ubuntu/DCV-Storage
          # https://docs.aws.amazon.com/dcv/latest/adminguide/managing-sessions-start.html#managing-sessions-start-manual
          cat << EoF > /etc/systemd/system/dcv-virtual-session.service
          [Unit]
          Description=Create DCV virtual session for user ubuntu
          After=default.target network.target
          [Service]
          ExecStart=/opt/dcv-virtual-session.sh
          [Install]
          WantedBy=default.target
          EoF
          cat << EoF > /opt/dcv-virtual-session.sh
          #!/bin/bash
          dcvUser=ubuntu
          while true;
          do
            if (/usr/bin/dcv list-sessions | grep \$dcvUser 1>/dev/null)
            then
              sleep 5
            else
              /usr/bin/dcv create-session \$dcvUser --owner \$dcvUser --storage-root /home/\$dcvUser/DCV-Storage
              /usr/bin/dcv list-sessions
            fi
          done
          EoF
          chmod +x /opt/dcv-virtual-session.sh
          cd /root/
          apt-get -y autoremove
          # https://docs.aws.amazon.com/cli/latest/userguide/getting-started-install.html
          if (uname -a | grep x86 1>/dev/null); then
            curl -s https://awscli.amazonaws.com/awscli-exe-linux-x86_64.zip -o awscliv2.zip
          else
            curl -s https://awscli.amazonaws.com/awscli-exe-linux-aarch64.zip -o awscliv2.zip
          fi
          unzip -q -o awscliv2.zip
          ./aws/install -b /usr/bin
          echo "export AWS_CLI_AUTO_PROMPT=on-partial" >> /home/ubuntu/.bashrc
          # text console: DCV virtual sessions only
          systemctl isolate multi-user.target
          systemctl set-default multi-user.target
          systemctl daemon-reload
          systemctl enable --now dcvserver dcv-virtual-session.service
          # Nvidia Drivers
          apt install -q -y $(nvidia-detector)
          # cfn-init completed so signal success or not
          python2 /usr/local/bin/cfn-signal -e $? --stack ${AWS::StackName} --resource ec2InstanceCarla --region ${AWS::Region}
          reboot
      Tags:
        - Key: Name
          Value: !Ref ec2Name
        - Key: StackName
          Value: !Sub ${AWS::StackName}
        - Key: StackId
          Value: !Sub ${AWS::StackId}

  Ec2InstanceBigaNetworkInterface:
    Type: AWS::EC2::NetworkInterface
    Properties:
      SubnetId: !Ref PrivateSubnet1
      Description: "Network interface for ec2InstanceBiga"
      GroupSet:
        - !Ref BigaSecurityGroup

  ec2InstanceBiga:
    Type: AWS::EC2::Instance
    Properties:
      ImageId: !Ref BigaAmiId
      InstanceType: !Ref BigaInstanceType
      NetworkInterfaces:
        - NetworkInterfaceId: !Ref Ec2InstanceBigaNetworkInterface
          DeviceIndex: "0"
      Tags:
          - Key: Name
            Value: !Ref BigaInstanceName

  MyTransitGateway:
    Type: "AWS::EC2::TransitGateway"
    Properties:
      Description: "Transit Gateway for multicast"
      AmazonSideAsn: 64512
      AutoAcceptSharedAttachments: "enable"
      DefaultRouteTableAssociation: "enable"
      DefaultRouteTablePropagation: "enable"
      DnsSupport: "enable"
      MulticastSupport: "enable"
      VpnEcmpSupport: "enable"

  TransitGatewayAttachmentVPC:
    Type: "AWS::EC2::TransitGatewayAttachment"
    Properties:
      TransitGatewayId: !Ref MyTransitGateway
      VpcId: !Ref vpc
      SubnetIds:
        - !Ref PrivateSubnet1
        - !Ref PrivateSubnet2

  TransitGatewayMulticastDomain:
    Type: "AWS::EC2::TransitGatewayMulticastDomain"
    Properties:
      TransitGatewayId: !Ref MyTransitGateway
      Options:
        Igmpv2Support: 'enable'

  MulticastDomainAssociation1:
    Type: "AWS::EC2::TransitGatewayMulticastDomainAssociation"
    Properties:
      SubnetId: !Ref PrivateSubnet1
      TransitGatewayAttachmentId: !Ref TransitGatewayAttachmentVPC
      TransitGatewayMulticastDomainId: !Ref TransitGatewayMulticastDomain

  MulticastDomainAssociation2:
    Type: "AWS::EC2::TransitGatewayMulticastDomainAssociation"
    Properties:
      SubnetId: !Ref PrivateSubnet2
      TransitGatewayAttachmentId: !Ref TransitGatewayAttachmentVPC
      TransitGatewayMulticastDomainId: !Ref TransitGatewayMulticastDomain

  MulticastGroupMember1:
    Type: AWS::EC2::TransitGatewayMulticastGroupMember
    DependsOn: MulticastDomainAssociation1
    Properties:
      GroupIpAddress: '239.255.0.1'
      NetworkInterfaceId:  !Ref Ec2InstanceBigaNetworkInterface
      TransitGatewayMulticastDomainId: !Ref TransitGatewayMulticastDomain

  MulticastGroupMember2:
    Type: AWS::EC2::TransitGatewayMulticastGroupMember
    DependsOn: MulticastDomainAssociation2
    Properties:
      GroupIpAddress: '239.255.0.1'
      NetworkInterfaceId: !Ref Ec2InstanceCarlaNetworkInterface
      TransitGatewayMulticastDomainId: !Ref TransitGatewayMulticastDomain

Outputs:
  InstanceID:
    Description: EC2 Instance ID
    Value: !Ref ec2InstanceCarla
  SSMsessionManager:
    Description: SSM Session Manager login ("sudo passwd ubuntu" to change password)
    Value: !Sub https://${AWS::Region}.console.aws.amazon.com/systems-manager/session-manager/${ec2InstanceCarla}
  DCVdownload:
    Description: DCV client download
    Value: https://download.nice-dcv.com
  CARLAinstall:
    Description: Command to download and install CARLA
    Value: /home/ubuntu/install-carla
  CARLApath:
    Description: CARLA installation target path
    Value: /opt/carla-simulator/