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50 lines
1.4 KiB
50 lines
1.4 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).
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## Launching openpilot
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First, start openpilot. Note that you will either need a [mapbox token](https://docs.mapbox.com/help/getting-started/access-tokens/#how-access-tokens-work) (set with ```export MAPBOX_TOKEN="1234"```), or to disable mapsd with ```export BLOCK=mapsd```
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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]
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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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```
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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
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``` |