openpilot/selfdrive/navd/README.md

navigation

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/