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openpilot_comma
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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/tools/sim/README

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Needs Ubuntu 16.04

== Checkout openpilot ==
cd ~/
git clone https://github.com/commaai/openpilot.git
# Add export PYTHONPATH=$HOME/openpilot to your bashrc
# Have a working tensorflow+keras in python2

== Install (in tab 1) ==

cd ~/openpilot/tools/sim
./start_carla.sh  # install CARLA 0.9.7 and start the server

== openpilot (in tab 2) ==

cd ~/openpilot/selfdrive/
PASSIVE=0 NOBOARD=1 ./manager.py

== bridge (in tab 3) ==

# links carla to openpilot, will "start the car" according to manager
cd ~/openpilot/tools/sim
./bridge.py