9be23cbdb9
* squash #24009 * Fix from other pr Add low-quality arg * Update tools/sim/test/test_carla_integration.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Updates for comments. Not finished yet * commit * fix arguments * Final changes for comments * Final fixes * increase carla client timeout to 10 * make test executable * actually wait for controlsd to send messages * Error proof test. Starting up carla at each test and closing down using docker (tried many things). * commit test carla * Removed some time.sleeps Add some more retries for bridge. * Stop while loop on shutdown * Increase teardown waiting time Co-authored-by: Willem Melching <willem.melching@gmail.com> 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 low quality mode you can activate by running:
./start_openpilot_docker.sh --low_quality
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
First, start the CARLA server in one terminal.
./start_carla.sh
Then, start the bridge and openpilot in another terminal.
./start_openpilot_docker.sh
To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
Controls
You can control openpilot driving in the simulation with the following keys
| key | functionality |
|---|---|
| 1 | Cruise up 5 mph |
| 2 | Cruise down 5 mph |
| 3 | Cruise cancel |
| q | Exit all |
To see the options for changing the environment, such as the town, spawn point or precipitation, you can run ./start_openpilot_docker.sh --help.
This will print the help output inside the docker container. You need to exit the docker container before running ./start_openpilot_docker.sh again.
Further Reading
The following resources contain more details and troubleshooting tips.