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25 lines
1.0 KiB
25 lines
1.0 KiB
2 years ago
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# navigation
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This directory contains two daemons, `navd` and `map_renderer`, which support navigation in the openpilot stack.
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### navd
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`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.
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### map renderer
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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:
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## development
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Currently, [mapbox](https://www.mapbox.com/) is used for navigation.
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* get an API token: https://docs.mapbox.com/help/glossary/access-token/
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* set an API token using the `MAPBOX_TOKEN` environment variable
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* routes/destinations are set through the `NavDestination` param
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* use `set_destination.py` for debugging
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* edit the map: https://www.mapbox.com/contribute
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* mapbox API playground: https://docs.mapbox.com/playground/
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