36 lines
1.0 KiB
Markdown
36 lines
1.0 KiB
Markdown
openpilot in simulator
|
|
=====================
|
|
|
|
|
|
## Running the simulator
|
|
|
|
First, start the CARLA server.
|
|
```
|
|
./start_carla.sh
|
|
```
|
|
|
|
Then start bridge and openpilot.
|
|
```
|
|
./start_openpilot_docker.sh
|
|
```
|
|
|
|
To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
|
|
|
|
## Controls
|
|
|
|
You can control openpilot driving in the simulation with the following keys
|
|
|
|
| key | functionality |
|
|
| :---: | :---------------: |
|
|
| 1 | Cruise up 5 mph |
|
|
| 2 | Cruise down 5 mph |
|
|
| 3 | Cruise cancel |
|
|
| q | Exit all |
|
|
|
|
To see the options for changing the environment, such as the town, spawn point or precipitation, you can run `./start_openpilot_docker.sh --help`.
|
|
This will print the help output inside the docker container. You need to exit the docker container before running `./start_openpilot_docker.sh` again.
|
|
|
|
## Further Reading
|
|
The following resources contain more details and troubleshooting tips.
|
|
* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)
|