77321dbac4
* improve tools.lib.kbhit and tools.sim.lib.keyboard_ctrl * unpack more efficiently * minor improvements * agnos.py match spec better * manual_ctrl test missing queue arg * fix incorrect type annotation * queues are generic * varname reuse resulting in incorrect type inference * bytes().hex() rather than bytes.hex(bytes()) * a bit of type hinting stuff |
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|---|---|---|
| .. | ||
| lib | ||
| .gitignore | ||
| Dockerfile.sim | ||
| README.md | ||
| bridge.py | ||
| build_container.sh | ||
| install_carla.sh | ||
| launch_openpilot.sh | ||
| start_carla.sh | ||
| start_openpilot_docker.sh | ||
| tmux_script.sh | ||
README.md
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.
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 an NVIDIA graphics card.
You can also check out the CARLA python documentation to find more parameters to tune that might increase performance on your system
Further Reading
The following resources contain more details and troubleshooting tips.