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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/docs/how-to/replay-a-drive.md

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Replay

Replaying is a critical tool for openpilot development and debugging.

Replaying a route

Hardware required: none

Just run tools/replay/replay --demo.

Replaying CAN data

Hardware required: jungle and comma 3/3X

  1. Connect your PC to a jungle.