25 lines
979 B
Markdown
25 lines
979 B
Markdown
|
# 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 simplified rendered map view over VisionIPC. The rendered maps look like this:
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
## development
|
||
|
|
|
||
|
|
Currently, [mapbox](https://www.mapbox.com/) 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/
|