mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-19 08:12:07 +08:00
Justin Newberry
9ef90e214d
* no carla * no arg and stylize metadrive old-commit-hash: 11ec5bf25e82e53bbefa88643c81ab5b7581e913
51 lines
1.2 KiB
Markdown
51 lines
1.2 KiB
Markdown
openpilot in simulator
|
|
=====================
|
|
|
|
openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
|
|
|
|
## 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]
|
|
Bridge between the simulator and openpilot.
|
|
|
|
options:
|
|
-h, --help show this help message and exit
|
|
--joystick
|
|
--high_quality
|
|
--dual_camera
|
|
--simulator SIMULATOR
|
|
```
|
|
|
|
#### 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
|
|
``` |