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Justin Newberry
5d668701cb
|
2 years ago | |
|---|---|---|
| .. | ||
| tests | 2 years ago | |
| .gitignore | ||
| README.md | ||
| SConscript | ||
| __init__.py | ||
| helpers.py | ||
| main.cc | 2 years ago | |
| map_renderer.cc | ||
| map_renderer.h | ||
| map_renderer.py | ||
| navd.py | 2 years ago | |
| set_destination.py | ||
| style.json | ||
README.md
navigation
This directory contains two daemons, navd and mapsd, 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.
- get an API token: https://docs.mapbox.com/help/glossary/access-token/
- set an API token using the
MAPBOX_TOKENenvironment variable - routes/destinations are set through the
NavDestinationparam- use
set_destination.pyfor debugging
- use
- edit the map: https://www.mapbox.com/contribute
- mapbox API playground: https://docs.mapbox.com/playground/