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