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open source driving agent
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jyoung/selfdrive/navd
mitchellgoffpc ded6fe0e5a
Update libmap_renderer -> libmaprender in map_renderer.py/get_ffi 		3 years ago
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.gitignore
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README.md nav: add README (#26802) 3 years ago
SConscript scons: set warnings as error (#28004) 3 years ago
__init__.py
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helpers.py
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main.cc
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map_renderer.cc model_replay: use last N frames of segment so navRoute is valid (#26790) 3 years ago
map_renderer.h
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map_renderer.py Update libmap_renderer -> libmaprender in map_renderer.py/get_ffi 3 years ago
navd.py navd: check duration_typical before using (#27184) 3 years ago
set_destination.py nav: add setting for extra coordinates to specify route (#26803) 3 years ago
style.json
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README.md

navigation

This directory contains two daemons, navd and map_renderer, which support navigation in the openpilot stack.

navd

navd takes in a route through the NavDestination param and sends out two packets: navRoute and navInstruction. These packets contain the coordinates of the planned route and turn-by-turn instructions.

map renderer

The map renderer listens for the navRoute and publishes a rendered map view over VisionIPC for the navigation model, which lives in selfdrive/modeld/. The rendered maps look like this:

development

Currently, mapbox is used for navigation.