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c4031750f3
* rough draft * plotjuggler and carla description * testing someting * this is cool * very short replay and debug desc * small change * small change 2 * better word * low quality mode * better word * fixes * changes * minor fixes * ubuntu_setup fix + README changes * Update tools/README.md * Update README.md * Update README.md * Update README.md * changes * Update tools/sim/README.md * final changes * final change Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
44 lines
1.5 KiB
Markdown
44 lines
1.5 KiB
Markdown
openpilot in simulator
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=====================
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## Running the simulator
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First, start the CARLA server.
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```
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./start_carla.sh
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```
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Then start bridge and openpilot.
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```
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./start_openpilot_docker.sh
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```
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To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
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## Controls
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You can control openpilot driving in the simulation with the following keys
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| key | functionality |
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| :---: | :---------------: |
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| 1 | Cruise up 5 mph |
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| 2 | Cruise down 5 mph |
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| 3 | Cruise cancel |
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| q | Exit all |
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To see the options for changing the environment, such as the town, spawn point or precipitation, you can run `./start_openpilot_docker.sh --help`.
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This will print the help output inside the docker container. You need to exit the docker container before running `./start_openpilot_docker.sh` again.
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## Performance
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openpilot doesn't have any extreme hardware requirements, however CARLA is very resource-intensive and may not run smoothly on your system. For this case, we have a low quality mode you can activate by running:
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```
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./start_openpilot_docker.sh --low_quality
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```
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You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system
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## Further Reading
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The following resources contain more details and troubleshooting tips.
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* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)
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