47 lines
1.7 KiB
Markdown
47 lines
1.7 KiB
Markdown
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 in one terminal.
|
|
```
|
|
./start_carla.sh
|
|
```
|
|
|
|
Then, start the bridge and openpilot in another terminal.
|
|
```
|
|
./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)
|