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.

History

Shane Smiskol 08fea7fa27 Fix torque control layout		2 months ago
..
bodyteleop	use pyupgrade to update to new typing syntax (#31580 )	1 year ago
cabana	juggle: use DBC dict generator (#34772 )	2 months ago
camerastream	[bot] Update Python packages (#34140 )	5 months ago
car_porting	tools: updates to find_segments_with_message notebook (#34782 )	2 months ago
joystick	actuators: rename steer to torque (#34724 )	2 months ago
lib	LogReader: add time_series helper	2 months ago
longitudinal_maneuvers	loggerd: switch logging from raw file format to zstd compressed files (#34549 )	3 months ago
plotjuggler	Fix torque control layout	2 months ago
profiling	Beautiful camera timings (#34558 )	2 months ago
replay	remove numpy_fast.py (#34796 )	2 months ago
rerun	Quick GC pass heading into 2025 (#34330 )	4 months ago
scripts	[bot] Update Python packages (#34140 )	5 months ago
sim	[bot] Update Python packages (#34664 )	2 months ago
tuning	rename steer_limited (#34763 )	2 months ago
webcam	Openpilot webcam support improved (#34215 )	4 months ago
CTF.md	CTF.md typo (#34257 )	4 months ago
README.md	Tools: simplified setup documentation (#34204 )	5 months ago
__init__.py	merge in tools	5 years ago
adb_shell.sh	`op adb`: change directory to match ssh (#34770 )	2 months ago
install_python_dependencies.sh	setup: try removing uv update loop	3 months ago
install_ubuntu_dependencies.sh	PC: Fix Panda DFU device permissions (#34674 )	2 months ago
mac_setup.sh	rm cppcheck (#34248 )	4 months ago
op.sh	`op.sh`: adb (#34468 )	2 months ago
setup.sh	add back pre-commit hook (#33366 )	8 months ago
ubuntu_setup.sh	tools: fix setup for directories with spaces (#33769 )	6 months ago

README.md

openpilot tools

System Requirements

openpilot is developed and tested on Ubuntu 24.04, which is the primary development target aside from the supported embedded hardware.

Most of openpilot should work natively on macOS. On Windows you can use WSL for a nearly native Ubuntu experience. Running natively on any other system is not currently recommended and will likely require modifications.

Native setup on Ubuntu 24.04 and macOS

1. Clone openpilot

NOTE: This repository uses Git LFS for large files. Ensure you have Git LFS installed and set up before cloning or working with it.

Either do a partial clone for faster download:

git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git

or do a full clone:

git clone --recurse-submodules https://github.com/commaai/openpilot.git

2. Run the setup script

cd openpilot
tools/op.sh setup

3. Git LFS

git lfs pull

4. Activate a python shell

Activate a shell with the Python dependencies installed:

source .venv/bin/activate

5. Build openpilot

scons -u -j$(nproc)

WSL on Windows

Windows Subsystem for Linux (WSL) should provide a similar experience to native Ubuntu. WSL 2 specifically has been reported by several users to be a seamless experience.

Follow these instructions to setup the WSL and install the Ubuntu-24.04 distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See these instructions for running GUI apps.

NOTE: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with LIBGL_ALWAYS_SOFTWARE=1, e.g. LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui.

CTF

Learn about the openpilot ecosystem and tools by playing our CTF.

Directory Structure

├── ubuntu_setup.sh     # Setup script for Ubuntu
├── mac_setup.sh        # Setup script for macOS
├── cabana/             # View and plot CAN messages from drives or in realtime
├── camerastream/       # Cameras stream over the network
├── joystick/           # Control your car with a joystick
├── lib/                # Libraries to support the tools and reading openpilot logs
├── plotjuggler/        # A tool to plot openpilot logs
├── replay/             # Replay drives and mock openpilot services
├── scripts/            # Miscellaneous scripts
├── serial/             # Tools for using the comma serial
├── sim/                # Run openpilot in a simulator
└── webcam/             # Run openpilot on a PC with webcams