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84 lines
2.3 KiB
84 lines
2.3 KiB
openpilot in simulator
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=====================
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openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
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## Launching openpilot
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First, start openpilot.
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``` bash
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# Run locally
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./tools/sim/launch_openpilot.sh
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```
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## Bridge usage
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```
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$ ./run_bridge.py -h
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usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
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Bridge between the simulator and openpilot.
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options:
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-h, --help show this help message and exit
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--joystick
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--high_quality
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--dual_camera
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--simulator SIMULATOR
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--town TOWN
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--spawn_point NUM_SELECTED_SPAWN_POINT
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--host HOST
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--port PORT
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```
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#### Bridge Controls:
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- To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
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- To disengage, press "S" (simulates a user brake)
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#### All inputs:
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```
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| key | functionality |
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|------|-----------------------|
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| 1 | Cruise Resume / Accel |
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| 2 | Cruise Set / Decel |
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| 3 | Cruise Cancel |
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| r | Reset Simulation |
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| i | Toggle Ignition |
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| q | Exit all |
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| wasd | Control manually |
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```
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## MetaDrive
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### Launching Metadrive
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Start bridge processes located in tools/sim:
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``` bash
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./run_bridge.py --simulator metadrive
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```
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## Carla
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CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
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```bash
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poetry install --with=carla
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```
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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 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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### Launching Carla
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Start Carla simulator 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
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./run_bridge.py --simulator carla
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```
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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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