parent
209e7aa471
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@ -25,3 +25,5 @@ You can control openpilot driving in the simulation with the following keys
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| 3 | Cruise cancel |
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| q | Exit all |
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To see the options for changing the environment, such as the town, spawn point or precipitation, you can run `./start_openpilot_docker.sh --help`.
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This will print the help output inside the docker container. You need to exit the docker container before running `./start_openpilot_docker.sh` again.
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@ -16,6 +16,15 @@ from selfdrive.test.helpers import set_params_enabled
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parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
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parser.add_argument('--joystick', action='store_true')
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parser.add_argument('--town', type=str, default='Town04')
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parser.add_argument('--spawn_point', dest='num_selected_spawn_point',
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type=int, default=16)
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parser.add_argument('--cloudyness', default=0.1, type=float)
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parser.add_argument('--precipitation', default=0.0, type=float)
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parser.add_argument('--precipitation_deposits', default=0.0, type=float)
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parser.add_argument('--wind_intensity', default=0.0, type=float)
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parser.add_argument('--sun_azimuth_angle', default=15.0, type=float)
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parser.add_argument('--sun_altitude_angle', default=75.0, type=float)
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args = parser.parse_args()
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W, H = 1164, 874
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@ -127,23 +136,19 @@ def go(q):
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# setup CARLA
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client = carla.Client("127.0.0.1", 2000)
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client.set_timeout(10.0)
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world = client.load_world('Town04')
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world.set_weather(carla.WeatherParameters(
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cloudyness=0.1,
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precipitation=0.0,
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precipitation_deposits=0.0,
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wind_intensity=0.0,
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sun_azimuth_angle=15.0,
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sun_altitude_angle=75.0
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))
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world = client.load_world(args.town)
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blueprint_library = world.get_blueprint_library()
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world_map = world.get_map()
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vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[0]
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# vehicle = world.spawn_actor(vehicle_bp, world_map.get_spawn_points()[16])
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vehicle = world.spawn_actor(vehicle_bp, world_map.get_spawn_points()[16])
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spawn_points = world_map.get_spawn_points()
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assert len(spawn_points) > args.num_selected_spawn_point, \
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f'''No spawn point {args.num_selected_spawn_point}, try a value between 0 and
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{len(spawn_points)} for this town.'''
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spawn_point = spawn_points[args.num_selected_spawn_point]
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vehicle = world.spawn_actor(vehicle_bp, spawn_point)
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max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
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@ -165,6 +170,15 @@ def go(q):
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camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
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camera.listen(cam_callback)
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world.set_weather(carla.WeatherParameters(
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cloudyness=args.cloudyness,
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precipitation=args.precipitation,
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precipitation_deposits=args.precipitation_deposits,
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wind_intensity=args.wind_intensity,
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sun_azimuth_angle=args.sun_azimuth_angle,
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sun_altitude_angle=args.sun_altitude_angle
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))
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# reenable IMU
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imu_bp = blueprint_library.find('sensor.other.imu')
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imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
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@ -14,4 +14,4 @@ docker run --net=host\
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--shm-size 1G \
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-e DISPLAY=$DISPLAY \
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commaai/openpilot-sim:latest \
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/bin/bash -c "cd tools && cd sim && sh tmux_script.sh"
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/bin/bash -c "cd tools && cd sim && sh tmux_script.sh $*"
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@ -2,5 +2,5 @@
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tmux new -d -s htop
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tmux send-keys "./launch_openpilot.sh" ENTER
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tmux neww
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tmux send-keys "./bridge.py" ENTER
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tmux send-keys "./bridge.py $*" ENTER
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tmux a
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