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 the simulator in low quality by default.
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
Start Carla simulator, openpilot and bridge processes located in tools/sim:
``` bash
# Terminal 1
./start_carla.sh
# Terminal 2 - Run openpilot and bridge in one Docker:
./start_openpilot_docker.sh
# Running the latest local code execute
# Terminal 2:
./launch_openpilot.sh
# Terminal 3
./bridge.py
```
### Bridge usage
_Same commands hold for start_openpilot_docker_
```
$ ./bridge.py -h
Usage: bridge.py [options]
Bridge between CARLA and openpilot.
Options:
-h, --help show this help message and exit
--joystick Use joystick input to control the car
--high_quality Set simulator to higher quality (requires good GPU)
--town TOWN Select map to drive in
--spawn_point NUM Number of the spawn point to start in
--host HOST Host address of Carla client (127.0.0.1 as default)
--port PORT Port of Carla client (2000 as default)
```
To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
All inputs:
| key | functionality |
|:----:|:-----------------:|
| 1 | Cruise up 1 mph |
| 2 | Cruise down 1 mph |
| 3 | Cruise cancel |
| q | Exit all |
| wasd | Control manually |
## Further Reading
The following resources contain more details and troubleshooting tips.
* [CARLA on the openpilot wiki ](https://github.com/commaai/openpilot/wiki/CARLA )
