History

Harald Schäfer add26a5d1f GpsLocation: Rename accuracy to horizontal accuracy (#31629 ) * Rename accuracy to horizontal accuracy * typo in cereal old-commit-hash: `85eb221e4c`		2024-02-28 19:55:57 -08:00
..
bridge	use pyupgrade to update to new typing syntax (#31580 )	2024-02-24 16:41:23 -08:00
lib	GpsLocation: Rename accuracy to horizontal accuracy (#31629 )	2024-02-28 19:55:57 -08:00
tests	Fix self.started value pass in metadrive test (#31153 )	2024-02-02 12:06:05 -08:00
Dockerfile.sim	Docker: merge opencl and base images (#31338 )	2024-02-06 17:11:00 -08:00
Dockerfile.sim_nvidia	…
README.md	Simulator: add comment about mapbox tokens (#31162 )	2024-01-25 12:45:43 -08:00
__init__.py	…
build_container.sh	Docker: merge opencl and base images (#31338 )	2024-02-06 17:11:00 -08:00
launch_openpilot.sh	Simulator: set params enabled (#30195 )	2023-10-05 22:19:38 -07:00
rgb_to_nv12.cl	sim: Converting RGB frames to NV12 format in OpenCL (#26169 )	2022-10-29 13:20:37 -07:00
run_bridge.py	Simulator: prepare to make bridge a PythonProcess (#31201 )	2024-01-29 10:11:02 -08:00
start_openpilot_docker.sh	Simulator: remove carla (#30690 )	2023-12-11 20:38:37 -08:00

README.md

openpilot in simulator

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

Launching openpilot

First, start openpilot. Note that you will either need a mapbox token (set with export MAPBOX_TOKEN="1234"), or to disable mapsd with export BLOCK=mapsd

# 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