Simulator: remove carla (#30690)
* no carla * no arg and stylize metadrive old-commit-hash: 11ec5bf25e82e53bbefa88643c81ab5b7581e913
This commit is contained in:
Justin Newberry
@@ -11,7 +11,6 @@
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"DISPLAY": "${localEnv:DISPLAY}",
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"PYTHONPATH": "${containerWorkspaceFolder}",
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"TERM": "xterm-256color",
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"CARLA_HOST": "host.docker.internal",
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"force_color_prompt": "1"
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},
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"runArgs": [
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@@ -58,7 +58,7 @@ All openpilot services can run as usual on a PC without requiring special hardwa
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With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
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You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
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You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
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A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
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BIN
poetry.lock
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poetry.lock
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@@ -168,12 +168,6 @@ types-tabulate = "*"
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# this is only pinned since 5.15.11 is broken
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pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
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[tool.poetry.group.carla]
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optional = true
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[tool.poetry.group.carla.dependencies]
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carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
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[build-system]
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requires = ["poetry-core"]
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build-backend = "poetry.core.masonry.api"
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@@ -1,7 +1,7 @@
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openpilot in simulator
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=====================
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openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
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openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
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## Launching openpilot
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First, start openpilot.
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@@ -13,8 +13,7 @@ First, start openpilot.
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## Bridge usage
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```
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$ ./run_bridge.py -h
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usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
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usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR]
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Bridge between the simulator and openpilot.
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options:
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@@ -23,10 +22,6 @@ options:
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--high_quality
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--dual_camera
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--simulator SIMULATOR
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--town TOWN
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--spawn_point NUM_SELECTED_SPAWN_POINT
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--host HOST
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--port PORT
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```
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#### Bridge Controls:
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@@ -53,32 +48,4 @@ options:
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Start bridge processes located in tools/sim:
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``` bash
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./run_bridge.py --simulator metadrive
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```
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## Carla
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CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
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```bash
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poetry install --with=carla
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```
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openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
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For this case, we have the simulator in low quality by default.
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You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
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### Launching Carla
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Start Carla simulator and bridge processes located in tools/sim:
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``` bash
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# Terminal 1
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./start_carla.sh
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# Terminal 2
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./run_bridge.py --simulator carla
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```
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## Further Reading
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The following resources contain more details and troubleshooting tips.
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* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)
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```
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@@ -1,22 +0,0 @@
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from openpilot.tools.sim.bridge.common import SimulatorBridge
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from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
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class CarlaBridge(SimulatorBridge):
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TICKS_PER_FRAME = 5
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def __init__(self, arguments):
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super().__init__(arguments)
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self.host = arguments.host
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self.port = arguments.port
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self.town = arguments.town
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self.num_selected_spawn_point = arguments.num_selected_spawn_point
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def spawn_world(self):
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import carla
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client = carla.Client(self.host, self.port)
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client.set_timeout(5)
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return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
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num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
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@@ -1,145 +0,0 @@
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import numpy as np
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from openpilot.common.params import Params
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from openpilot.tools.sim.lib.common import SimulatorState, vec3
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from openpilot.tools.sim.bridge.common import World
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from openpilot.tools.sim.lib.camerad import W, H
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class CarlaWorld(World):
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def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
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super().__init__(dual_camera)
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import carla
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low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)
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layers = carla.MapLayer.All if high_quality else low_quality_layers
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world = client.load_world(town, map_layers=layers)
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settings = world.get_settings()
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settings.fixed_delta_seconds = 0.01
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world.apply_settings(settings)
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world.set_weather(carla.WeatherParameters.ClearSunset)
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self.world = world
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world_map = world.get_map()
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blueprint_library = world.get_blueprint_library()
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vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
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vehicle_bp.set_attribute('role_name', 'hero')
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spawn_points = world_map.get_spawn_points()
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assert len(spawn_points) > num_selected_spawn_point, \
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f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
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self.spawn_point = spawn_points[num_selected_spawn_point]
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self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point)
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physics_control = self.vehicle.get_physics_control()
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physics_control.mass = 2326
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physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
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physics_control.gear_switch_time = 0.0
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self.vehicle.apply_physics_control(physics_control)
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self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
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self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle
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self.params = Params()
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self.steer_ratio = 15
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self.carla_objects = []
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transform = carla.Transform(carla.Location(x=0.8, z=1.13))
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def create_camera(fov, callback):
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blueprint = blueprint_library.find('sensor.camera.rgb')
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blueprint.set_attribute('image_size_x', str(W))
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blueprint.set_attribute('image_size_y', str(H))
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blueprint.set_attribute('fov', str(fov))
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blueprint.set_attribute('sensor_tick', str(1/20))
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if not high_quality:
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blueprint.set_attribute('enable_postprocess_effects', 'False')
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camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle)
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camera.listen(callback)
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return camera
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self.road_camera = create_camera(fov=40, callback=self.cam_callback_road)
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if dual_camera:
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self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts
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else:
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self.road_wide_camera = None
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# re-enable IMU
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imu_bp = blueprint_library.find('sensor.other.imu')
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imu_bp.set_attribute('sensor_tick', '0.01')
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self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle)
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gps_bp = blueprint_library.find('sensor.other.gnss')
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self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle)
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self.params.put_bool("UbloxAvailable", True)
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self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle]
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def close(self):
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for s in self.carla_objects:
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if s is not None:
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try:
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s.destroy()
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except Exception as e:
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print("Failed to destroy carla object", e)
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def carla_image_to_rgb(self, image):
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rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
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rgb = np.reshape(rgb, (H, W, 4))
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return np.ascontiguousarray(rgb[:, :, [0, 1, 2]])
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def cam_callback_road(self, image):
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with self.image_lock:
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self.road_image = self.carla_image_to_rgb(image)
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def cam_callback_wide_road(self, image):
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with self.image_lock:
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self.wide_road_image = self.carla_image_to_rgb(image)
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def apply_controls(self, steer_angle, throttle_out, brake_out):
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self.vc.throttle = throttle_out
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steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio)
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steer_carla = np.clip(steer_carla, -1, 1)
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self.vc.steer = steer_carla
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self.vc.brake = brake_out
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self.vehicle.apply_control(self.vc)
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def read_sensors(self, simulator_state: SimulatorState):
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simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw
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simulator_state.imu.accelerometer = vec3(
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self.imu.get_acceleration().x,
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self.imu.get_acceleration().y,
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self.imu.get_acceleration().z
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)
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simulator_state.imu.gyroscope = vec3(
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self.imu.get_angular_velocity().x,
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self.imu.get_angular_velocity().y,
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self.imu.get_angular_velocity().z
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)
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simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y])
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simulator_state.velocity = self.vehicle.get_velocity()
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simulator_state.valid = True
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simulator_state.steering_angle = self.vc.steer * self.max_steer_angle
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def read_cameras(self):
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pass # cameras are read within a callback for carla
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def tick(self):
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self.world.tick()
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def reset(self):
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import carla
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self.vehicle.set_transform(self.spawn_point)
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self.vehicle.set_target_velocity(carla.Vector3D())
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@@ -44,11 +44,10 @@ class SimulatedSensors:
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if not simulator_state.valid:
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return
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# transform vel from carla to NED
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# north is -Y in CARLA
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# transform from vel to NED
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velNED = [
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-simulator_state.velocity.y, # north/south component of NED is negative when moving south
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simulator_state.velocity.x, # positive when moving east, which is x in carla
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-simulator_state.velocity.y,
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simulator_state.velocity.x,
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simulator_state.velocity.z,
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]
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@@ -1,12 +1,9 @@
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#!/usr/bin/env python
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import argparse
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import os
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from typing import Any
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from multiprocessing import Queue
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from openpilot.tools.sim.bridge.common import SimulatorBridge
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from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
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from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
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@@ -15,13 +12,6 @@ def parse_args(add_args=None):
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parser.add_argument('--joystick', action='store_true')
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parser.add_argument('--high_quality', action='store_true')
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parser.add_argument('--dual_camera', action='store_true')
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parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')
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# Carla specific
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parser.add_argument('--town', type=str, default='Town04_Opt')
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parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
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parser.add_argument('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1'))
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parser.add_argument('--port', dest='port', type=int, default=2000)
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return parser.parse_args(add_args)
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@@ -29,13 +19,7 @@ if __name__ == "__main__":
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q: Any = Queue()
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args = parse_args()
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simulator_bridge: SimulatorBridge
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if args.simulator == "carla":
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simulator_bridge = CarlaBridge(args)
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elif args.simulator == "metadrive":
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simulator_bridge = MetaDriveBridge(args)
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else:
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raise AssertionError("simulator type not supported")
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simulator_bridge = MetaDriveBridge(args)
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p = simulator_bridge.run(q)
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if args.joystick:
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@@ -1,34 +0,0 @@
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#!/bin/bash
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# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker
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if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
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read -p "Nvidia docker is required. Do you want to install it now? (y/n)";
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if [ "${REPLY}" == "y" ]; then
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distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
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echo $distribution
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curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
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curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
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sudo apt-get update && sudo apt-get install -y nvidia-docker2 # Also installs docker-ce and nvidia-container-toolkit
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sudo systemctl restart docker
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else
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exit 0
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fi
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fi
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docker pull carlasim/carla:0.9.14
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EXTRA_ARGS="-it"
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if [[ "$DETACH" ]]; then
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EXTRA_ARGS="-d"
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fi
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docker kill carla_sim || true
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docker run \
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--name carla_sim \
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--rm \
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--gpus all \
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--net=host \
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-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
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$EXTRA_ARGS \
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carlasim/carla:0.9.14 \
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/bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
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@@ -10,7 +10,7 @@ if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
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fi
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if [[ "$CI" ]]; then
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CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py"
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CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py"
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else
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# expose X to the container
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xhost +local:root
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@@ -1,45 +0,0 @@
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#!/usr/bin/env python3
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import subprocess
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import time
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import unittest
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from subprocess import Popen
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|
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from openpilot.selfdrive.manager.helpers import unblock_stdout
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from openpilot.tools.sim.run_bridge import parse_args
|
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from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
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from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
|
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|
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from typing import Optional
|
||||
|
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class TestCarlaBridge(TestSimBridgeBase):
|
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"""
|
||||
Tests need Carla simulator to run
|
||||
"""
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||||
carla_process: Optional[Popen] = None
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||||
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||||
def setUp(self):
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||||
super().setUp()
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||||
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# We want to make sure that carla_sim docker isn't still running.
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subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
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self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
|
||||
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# Too many lagging messages in bridge.py can cause a crash. This prevents it.
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unblock_stdout()
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# Wait 10 seconds to startup carla
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time.sleep(10)
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||||
|
||||
def create_bridge(self):
|
||||
return CarlaBridge(parse_args([]))
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||||
|
||||
def tearDown(self):
|
||||
super().tearDown()
|
||||
|
||||
# Stop carla simulator by removing docker container
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||||
subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
|
||||
if self.carla_process is not None:
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||||
self.carla_process.wait()
|
||||
|
||||
|
||||
if __name__ == "__main__":
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||||
unittest.main()
|
||||
@@ -14,7 +14,7 @@ class TestSimBridgeBase(unittest.TestCase):
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
if cls is TestSimBridgeBase:
|
||||
raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead")
|
||||
raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead")
|
||||
|
||||
def setUp(self):
|
||||
self.processes = []
|
||||
@@ -26,15 +26,15 @@ class TestSimBridgeBase(unittest.TestCase):
|
||||
|
||||
sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
|
||||
q = Queue()
|
||||
carla_bridge = self.create_bridge()
|
||||
p_bridge = carla_bridge.run(q, retries=10)
|
||||
bridge = self.create_bridge()
|
||||
p_bridge = bridge.run(q, retries=10)
|
||||
self.processes.append(p_bridge)
|
||||
|
||||
max_time_per_step = 60
|
||||
|
||||
# Wait for bridge to startup
|
||||
start_waiting = time.monotonic()
|
||||
while not carla_bridge.started and time.monotonic() < start_waiting + max_time_per_step:
|
||||
while not bridge.started and time.monotonic() < start_waiting + max_time_per_step:
|
||||
time.sleep(0.1)
|
||||
self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}")
|
||||
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
#!/bin/bash
|
||||
tmux new -d -s carla-sim
|
||||
tmux send-keys "./launch_openpilot.sh" ENTER
|
||||
tmux neww
|
||||
tmux send-keys "./run_bridge.py $*" ENTER
|
||||
tmux a -t carla-sim
|
||||
Reference in New Issue
Block a user