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improve sim readme

pull/22497/head^2
Adeeb Shihadeh 2021-10-10 15:50:30 -07:00 committed by GitHub
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tools/sim/README.md
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openpilot in simulator
=====================
openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA simulator](https://carla.org/).
## System Requirements
openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system. For this case, we have a low quality mode you can activate by running:
```
./start_openpilot_docker.sh --low_quality
```
You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
## Running the simulator
First, start the CARLA server.
First, start the CARLA server in one terminal.
```
./start_carla.sh
```
Then start bridge and openpilot.
Then, start the bridge and openpilot in another terminal.
```
./start_openpilot_docker.sh
```
@ -30,16 +40,6 @@ You can control openpilot driving in the simulation with the following keys
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.
## System Requirements
openpilot doesn't have any extreme hardware requirements, however CARLA is very resource-intensive and may not run smoothly on your system. For this case, we have a low quality mode you can activate by running:
```
./start_openpilot_docker.sh --low_quality
```
NOTE: [CARLA requires](https://carla.readthedocs.io/en/latest/build_docker/) an NVIDIA graphics card.
You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system
## Further Reading
The following resources contain more details and troubleshooting tips.