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* run simulator test in ci * block navd process * block ui * fix jenkins * build docker * remove tty * remove tty for carla * detach carla_sim * more retries * only build once * add more time for bridge * cleanup * use qt offscreen * expose to docker * block ui * use new dockerimage * fix * from ubuntu20.04 * install curl * add ssh * add locales * noninteractive * syntax * use base * smaller image * add git + git lfs * kill carla * run in parallel * fix missing agents * default agent? * little cleanup * default doesn't work * not in ci * fix path * fix path * new msg Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
openpilot in simulator
openpilot implements a bridge that allows it to run in the CARLA simulator.
System Requirements
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 a 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.
Running the simulator
Start Carla simulator, openpilot and bridge processes located in tools/sim:
# Terminal 1
./start_carla.sh
# Terminal 2 - Run openpilot and bridge in one Docker:
./start_openpilot_docker.sh
# Running the latest local code execute
# Terminal 2:
./launch_openpilot.sh
# Terminal 3
./bridge.py
Bridge usage
Same commands hold for start_openpilot_docker
$ ./bridge.py -h
Usage: bridge.py [options]
Bridge between CARLA and openpilot.
Options:
-h, --help show this help message and exit
--joystick Use joystick input to control the car
--high_quality Set simulator to higher quality (requires good GPU)
--town TOWN Select map to drive in
--spawn_point NUM Number of the spawn point to start in
To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed. All inputs:
| key | functionality |
|---|---|
| 1 | Cruise up 1 mph |
| 2 | Cruise down 1 mph |
| 3 | Cruise cancel |
| q | Exit all |
| wasd | Control manually |
Further Reading
The following resources contain more details and troubleshooting tips.