openpilot_comma/tools/sim

openpilot in simulator

openpilot implements a bridge that allows it to run in the MetaDrive simulator or CARLA simulator.

Launching openpilot

First, start openpilot.

# Run locally
./tools/sim/launch_openpilot.sh

Bridge usage

$ ./run_bridge.py -h
usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]

Bridge between the simulator and openpilot.

options:
  -h, --help            show this help message and exit
  --joystick
  --high_quality
  --dual_camera
  --simulator SIMULATOR
  --town TOWN
  --spawn_point NUM_SELECTED_SPAWN_POINT
  --host HOST
  --port PORT

Bridge Controls:

• To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
• To disengage, press "S" (simulates a user brake)

All inputs:

| key  |   functionality       |
|------|-----------------------|
|  1   | Cruise Resume / Accel |
|  2   | Cruise Set    / Decel |
|  3   | Cruise Cancel         |
|  r   | Reset Simulation      |
|  i   | Toggle Ignition       |
|  q   | Exit all              |
| wasd | Control manually      |

MetaDrive

Launching Metadrive

Start bridge processes located in tools/sim:

./run_bridge.py --simulator metadrive

Carla

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. For this case, we have the simulator in low quality by default.

You can also check out the CARLA python documentation to find more parameters to tune that might increase performance on your system.

Launching Carla

Start Carla simulator and bridge processes located in tools/sim:

# Terminal 1
./start_carla.sh

# Terminal 2
./run_bridge.py --simulator carla

Further Reading

The following resources contain more details and troubleshooting tips.

• CARLA on the openpilot wiki