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* now alpha long * fix * rename param * thought i did this * debug * debug * more * more * moar * Revert "moar" This reverts commit e347106246583982e1be206485ad4d8eb944f817. * Revert "more" This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1. * Revert "more" This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453. * Revert "debug" This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63. * Revert "debug" This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb.
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