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2024-03-10 20:59:55 -07:00
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tools/sim/README.md
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openpilot in simulator
=====================
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/).
## Launching openpilot
First, start openpilot.
``` bash
# Run locally
./tools/sim/launch_openpilot.sh
```
## Bridge usage
```
$ ./run_bridge.py -h
usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
Bridge between the simulator and openpilot.
options:
-h, --help show this help message and exit
--joystick
--high_quality
--dual_camera
--simulator SIMULATOR
--town TOWN
--spawn_point NUM_SELECTED_SPAWN_POINT
--host HOST
--port PORT
```
#### 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:
``` bash
./run_bridge.py --simulator metadrive
```
## Carla
CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
```bash
poetry install --with=carla
```
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.
For this case, we have the simulator in low quality by default.
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.
### Launching Carla
Start Carla simulator and bridge processes located in tools/sim:
``` bash
# Terminal 1
./start_carla.sh
# Terminal 2
./run_bridge.py --simulator carla
```
## Further Reading
The following resources contain more details and troubleshooting tips.
* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)