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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
Kacper Rączy f10d6d5738
metadrive: fix wasd steer signs (#30623) 		1 year ago
..
bridge metadrive: fix wasd steer signs (#30623) 1 year ago
lib metadrive: fix wasd steer signs (#30623) 1 year ago
tests Simulator: remove carla (#30690) 1 year ago
Dockerfile.sim locationd: remove models unused in openpilot (#30481) 1 year ago
Dockerfile.sim_nvidia simulator: run simulator test in ci (#24691) 3 years ago
README.md Simulator: --simulator is no longer an argument (#30700) 1 year ago
__init__.py Simulator Tests (#24274) 3 years ago
build_container.sh misc jenkins fixups (#24840) 3 years ago
launch_openpilot.sh Simulator: set params enabled (#30195) 2 years ago
rgb_to_nv12.cl sim: Converting RGB frames to NV12 format in OpenCL (#26169) 3 years ago
run_bridge.py Simulator: remove carla (#30690) 1 year ago
start_openpilot_docker.sh Simulator: remove carla (#30690) 1 year ago

README.md

openpilot in simulator

openpilot implements a bridge that allows it to run in the MetaDrive 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]
Bridge between the simulator and openpilot.

options:
  -h, --help            show this help message and exit
  --joystick
  --high_quality
  --dual_camera

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