openpilot_comma/tools/sim

openpilot in simulator

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

Launching openpilot

First, start openpilot. Note that you will either need a mapbox token (set with export MAPBOX_TOKEN="1234"), or to disable mapsd with export BLOCK=mapsd

# 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