openpilot

History

Adeeb Shihadeh 5da573ff39 navd: handle errors in parsing api response (#30977 )		2024-01-11 23:15:29 -08:00
..
tests	simple navd test (#30976 )	2024-01-11 22:55:58 -08:00
.gitignore	Rename map_renderer -> mapsd (#28580 )	2023-06-16 20:12:50 -07:00
README.md	Rename map_renderer -> mapsd (#28580 )	2023-06-16 20:12:50 -07:00
SConscript	Mapsd: move on the CPU (#30349 )	2023-11-06 09:04:53 -08:00
__init__.py	…
helpers.py	add openpilot prefix to imports (#29498 )	2023-08-20 20:49:55 -07:00
main.cc	allow onscreen cpu rendering (#30510 )	2023-11-22 12:44:32 -08:00
map_renderer.cc	map renderer: only log map states once fully loaded (#29722 )	2023-08-30 20:32:00 -07:00
map_renderer.h	map renderer: only log map states once fully loaded (#29722 )	2023-08-30 20:32:00 -07:00
map_renderer.py	add openpilot prefix to imports (#29498 )	2023-08-20 20:49:55 -07:00
navd.py	navd: handle errors in parsing api response (#30977 )	2024-01-11 23:15:29 -08:00
set_destination.py	add openpilot prefix to imports (#29498 )	2023-08-20 20:49:55 -07:00
style.json	…

README.md

This directory contains two daemons, navd and mapsd, which support navigation in the openpilot stack.

navd

navd takes in a route through the NavDestination param and sends out two packets: navRoute and navInstruction. These packets contain the coordinates of the planned route and turn-by-turn instructions.

map renderer

The map renderer listens for the navRoute and publishes a rendered map view over VisionIPC for the navigation model, which lives in selfdrive/modeld/. The rendered maps look like this:

development

Currently, mapbox is used for navigation.

get an API token: https://docs.mapbox.com/help/glossary/access-token/
set an API token using the MAPBOX_TOKEN environment variable
routes/destinations are set through the NavDestination param
- use set_destination.py for debugging
edit the map: https://www.mapbox.com/contribute
mapbox API playground: https://docs.mapbox.com/playground/