History

JaSpa99 dc73e6e2aa Make SimulatorBridge picklable (MacOS support) (#34023 ) * remove unused * make Params (un)serializable * move initialization after spawn _thread.lock objects can't be pickled		2024-11-14 10:25:50 -08:00
..
bridge	Make SimulatorBridge picklable (MacOS support) (#34023 )	2024-11-14 10:25:50 -08:00
lib	visionipc: remove RGB support (#33739 )	2024-10-07 13:24:57 -07:00
tests	ci: faster sim test (#33888 )	2024-10-29 16:59:48 -07:00
README.md	remove navigation (#32773 )	2024-06-19 19:14:13 -07:00
__init__.py	…
launch_openpilot.sh	replace python with python3 (#33303 )	2024-08-14 15:14:31 -07:00
rgb_to_nv12.cl	…
run_bridge.py	fix bash + python3 shebangs (#33287 )	2024-08-13 21:22:13 -07:00

README.md

openpilot in simulator

openpilot implements a bridge that allows it to run in the MetaDrive simulator.

Launching openpilot

First, start openpilot.

# Run locally
./tools/sim/launch_openpilot.sh

Bridge usage

$ ./run_bridge.py -h
usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera]
Bridge between the simulator and openpilot.

options:
  -h, --help            show this help message and exit
  --joystick
  --high_quality
  --dual_camera

Bridge Controls:

To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
To disengage, press "S" (simulates a user brake)

All inputs:

| key  |   functionality       |
|------|-----------------------|
|  1   | Cruise Resume / Accel |
|  2   | Cruise Set    / Decel |
|  3   | Cruise Cancel         |
|  r   | Reset Simulation      |
|  i   | Toggle Ignition       |
|  q   | Exit all              |
| wasd | Control manually      |

MetaDrive

Launching Metadrive

Start bridge processes located in tools/sim:

./run_bridge.py