mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-26 16:32:06 +08:00
Simulator: remove carla (#30690)
* no carla * no arg and stylize metadrive
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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Generated
+18
-38
@@ -1,4 +1,4 @@
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# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
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# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
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[[package]]
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name = "aiohttp"
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@@ -346,20 +346,6 @@ files = [
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docutils = ">=0.12"
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Sphinx = ">=4.0,<5.0.0 || >5.0.0"
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[[package]]
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name = "carla"
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version = "0.9.14"
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description = "Python API for communicating with the CARLA server."
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optional = false
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python-versions = "*"
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files = [
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{file = "carla-0.9.14-cp311-cp311-linux_x86_64.whl", hash = "sha256:f0a8ce0c760d1fef3577e2ef90e9d468e3d85e65bd6d68b44bce51f0d5a0723a"},
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]
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[package.source]
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type = "url"
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url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl"
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[[package]]
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name = "casadi"
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version = "3.6.3"
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@@ -2081,16 +2067,6 @@ files = [
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{file = "MarkupSafe-2.1.3-cp311-cp311-win32.whl", hash = "sha256:dd15ff04ffd7e05ffcb7fe79f1b98041b8ea30ae9234aed2a9168b5797c3effb"},
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{file = "MarkupSafe-2.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:134da1eca9ec0ae528110ccc9e48041e0828d79f24121a1a146161103c76e686"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:f698de3fd0c4e6972b92290a45bd9b1536bffe8c6759c62471efaa8acb4c37bc"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:aa57bd9cf8ae831a362185ee444e15a93ecb2e344c8e52e4d721ea3ab6ef1823"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ffcc3f7c66b5f5b7931a5aa68fc9cecc51e685ef90282f4a82f0f5e9b704ad11"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47d4f1c5f80fc62fdd7777d0d40a2e9dda0a05883ab11374334f6c4de38adffd"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1f67c7038d560d92149c060157d623c542173016c4babc0c1913cca0564b9939"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8f9293864fe09b8149f0cc42ce56e3f0e54de883a9de90cd427f191c346eb2e1"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-win32.whl", hash = "sha256:715d3562f79d540f251b99ebd6d8baa547118974341db04f5ad06d5ea3eb8007"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-win_amd64.whl", hash = "sha256:1b8dd8c3fd14349433c79fa8abeb573a55fc0fdd769133baac1f5e07abf54aeb"},
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{file = "MarkupSafe-2.1.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8e254ae696c88d98da6555f5ace2279cf7cd5b3f52be2b5cf97feafe883b58d2"},
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{file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb0932dc158471523c9637e807d9bfb93e06a95cbf010f1a38b98623b929ef2b"},
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{file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9402b03f1a1b4dc4c19845e5c749e3ab82d5078d16a2a4c2cd2df62d57bb0707"},
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@@ -2671,7 +2647,14 @@ files = [
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]
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[package.dependencies]
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numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
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numpy = [
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{version = ">=1.21.2", markers = "python_version >= \"3.10\""},
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{version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
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{version = ">=1.23.5", markers = "python_version >= \"3.11\""},
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{version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
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{version = ">=1.17.0", markers = "python_version >= \"3.7\""},
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{version = ">=1.17.3", markers = "python_version >= \"3.8\""},
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]
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[[package]]
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name = "opencv-python-headless"
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@@ -2690,7 +2673,14 @@ files = [
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]
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[package.dependencies]
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numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
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numpy = [
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{version = ">=1.21.2", markers = "python_version >= \"3.10\""},
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{version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
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{version = ">=1.23.5", markers = "python_version >= \"3.11\""},
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{version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
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{version = ">=1.17.0", markers = "python_version >= \"3.7\""},
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{version = ">=1.17.3", markers = "python_version >= \"3.8\""},
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]
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[[package]]
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name = "packaging"
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@@ -3869,7 +3859,6 @@ files = [
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{file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69b023b2b4daa7548bcfbd4aa3da05b3a74b772db9e23b982788168117739938"},
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{file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:81e0b275a9ecc9c0c0c07b4b90ba548307583c125f54d5b6946cfee6360c733d"},
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{file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba336e390cd8e4d1739f42dfe9bb83a3cc2e80f567d8805e11b46f4a943f5515"},
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{file = "PyYAML-6.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:326c013efe8048858a6d312ddd31d56e468118ad4cdeda36c719bf5bb6192290"},
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{file = "PyYAML-6.0.1-cp310-cp310-win32.whl", hash = "sha256:bd4af7373a854424dabd882decdc5579653d7868b8fb26dc7d0e99f823aa5924"},
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{file = "PyYAML-6.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:fd1592b3fdf65fff2ad0004b5e363300ef59ced41c2e6b3a99d4089fa8c5435d"},
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{file = "PyYAML-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6965a7bc3cf88e5a1c3bd2e0b5c22f8d677dc88a455344035f03399034eb3007"},
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@@ -3877,15 +3866,8 @@ files = [
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{file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:42f8152b8dbc4fe7d96729ec2b99c7097d656dc1213a3229ca5383f973a5ed6d"},
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{file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:062582fca9fabdd2c8b54a3ef1c978d786e0f6b3a1510e0ac93ef59e0ddae2bc"},
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{file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2b04aac4d386b172d5b9692e2d2da8de7bfb6c387fa4f801fbf6fb2e6ba4673"},
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{file = "PyYAML-6.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e7d73685e87afe9f3b36c799222440d6cf362062f78be1013661b00c5c6f678b"},
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{file = "PyYAML-6.0.1-cp311-cp311-win32.whl", hash = "sha256:1635fd110e8d85d55237ab316b5b011de701ea0f29d07611174a1b42f1444741"},
|
||||
{file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
|
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{file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
|
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{file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
|
||||
{file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
|
||||
{file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
|
||||
{file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
|
||||
{file = "PyYAML-6.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:0d3304d8c0adc42be59c5f8a4d9e3d7379e6955ad754aa9d6ab7a398b59dd1df"},
|
||||
{file = "PyYAML-6.0.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50550eb667afee136e9a77d6dc71ae76a44df8b3e51e41b77f6de2932bfe0f47"},
|
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{file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
|
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{file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704219a11b772aea0d8ecd7058d0082713c3562b4e271b849ad7dc4a5c90c13c"},
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@@ -3902,7 +3884,6 @@ files = [
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{file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a0cd17c15d3bb3fa06978b4e8958dcdc6e0174ccea823003a106c7d4d7899ac5"},
|
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{file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28c119d996beec18c05208a8bd78cbe4007878c6dd15091efb73a30e90539696"},
|
||||
{file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e07cbde391ba96ab58e532ff4803f79c4129397514e1413a7dc761ccd755735"},
|
||||
{file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"},
|
||||
{file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"},
|
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{file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
|
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{file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
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@@ -3910,7 +3891,6 @@ files = [
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{file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"},
|
||||
{file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"},
|
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{file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"},
|
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{file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
|
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{file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"},
|
||||
{file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"},
|
||||
{file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
|
||||
@@ -5009,4 +4989,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
|
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[metadata]
|
||||
lock-version = "2.0"
|
||||
python-versions = "~3.11"
|
||||
content-hash = "7f7244a89280a41937066ebf80aa64fcb375852484c9d034ea7f2de3eae4d90a"
|
||||
content-hash = "08910461234279f3339c1692bd0cc2732f6e17f61ca9e3ffa53d461526e3dce4"
|
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|
||||
@@ -168,12 +168,6 @@ types-tabulate = "*"
|
||||
# this is only pinned since 5.15.11 is broken
|
||||
pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
|
||||
|
||||
[tool.poetry.group.carla]
|
||||
optional = true
|
||||
|
||||
[tool.poetry.group.carla.dependencies]
|
||||
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'" }
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
|
||||
+3
-36
@@ -1,7 +1,7 @@
|
||||
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/).
|
||||
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.
|
||||
@@ -13,8 +13,7 @@ First, start openpilot.
|
||||
## 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]
|
||||
|
||||
usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR]
|
||||
Bridge between the simulator and openpilot.
|
||||
|
||||
options:
|
||||
@@ -23,10 +22,6 @@ options:
|
||||
--high_quality
|
||||
--dual_camera
|
||||
--simulator SIMULATOR
|
||||
--town TOWN
|
||||
--spawn_point NUM_SELECTED_SPAWN_POINT
|
||||
--host HOST
|
||||
--port PORT
|
||||
```
|
||||
|
||||
#### Bridge Controls:
|
||||
@@ -53,32 +48,4 @@ options:
|
||||
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)
|
||||
```
|
||||
@@ -1,22 +0,0 @@
|
||||
from openpilot.tools.sim.bridge.common import SimulatorBridge
|
||||
from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
|
||||
|
||||
|
||||
class CarlaBridge(SimulatorBridge):
|
||||
TICKS_PER_FRAME = 5
|
||||
|
||||
def __init__(self, arguments):
|
||||
super().__init__(arguments)
|
||||
self.host = arguments.host
|
||||
self.port = arguments.port
|
||||
self.town = arguments.town
|
||||
self.num_selected_spawn_point = arguments.num_selected_spawn_point
|
||||
|
||||
def spawn_world(self):
|
||||
import carla
|
||||
|
||||
client = carla.Client(self.host, self.port)
|
||||
client.set_timeout(5)
|
||||
|
||||
return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
|
||||
num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
|
||||
@@ -1,145 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.tools.sim.lib.common import SimulatorState, vec3
|
||||
from openpilot.tools.sim.bridge.common import World
|
||||
from openpilot.tools.sim.lib.camerad import W, H
|
||||
|
||||
|
||||
class CarlaWorld(World):
|
||||
def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
|
||||
super().__init__(dual_camera)
|
||||
import carla
|
||||
|
||||
low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)
|
||||
|
||||
layers = carla.MapLayer.All if high_quality else low_quality_layers
|
||||
|
||||
world = client.load_world(town, map_layers=layers)
|
||||
|
||||
settings = world.get_settings()
|
||||
settings.fixed_delta_seconds = 0.01
|
||||
world.apply_settings(settings)
|
||||
|
||||
world.set_weather(carla.WeatherParameters.ClearSunset)
|
||||
|
||||
self.world = world
|
||||
world_map = world.get_map()
|
||||
|
||||
blueprint_library = world.get_blueprint_library()
|
||||
|
||||
vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
|
||||
vehicle_bp.set_attribute('role_name', 'hero')
|
||||
spawn_points = world_map.get_spawn_points()
|
||||
assert len(spawn_points) > num_selected_spawn_point, \
|
||||
f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
|
||||
self.spawn_point = spawn_points[num_selected_spawn_point]
|
||||
self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point)
|
||||
|
||||
physics_control = self.vehicle.get_physics_control()
|
||||
physics_control.mass = 2326
|
||||
physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
|
||||
physics_control.gear_switch_time = 0.0
|
||||
self.vehicle.apply_physics_control(physics_control)
|
||||
|
||||
self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
|
||||
self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle
|
||||
self.params = Params()
|
||||
|
||||
self.steer_ratio = 15
|
||||
|
||||
self.carla_objects = []
|
||||
|
||||
transform = carla.Transform(carla.Location(x=0.8, z=1.13))
|
||||
|
||||
def create_camera(fov, callback):
|
||||
blueprint = blueprint_library.find('sensor.camera.rgb')
|
||||
blueprint.set_attribute('image_size_x', str(W))
|
||||
blueprint.set_attribute('image_size_y', str(H))
|
||||
blueprint.set_attribute('fov', str(fov))
|
||||
blueprint.set_attribute('sensor_tick', str(1/20))
|
||||
if not high_quality:
|
||||
blueprint.set_attribute('enable_postprocess_effects', 'False')
|
||||
camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle)
|
||||
camera.listen(callback)
|
||||
return camera
|
||||
|
||||
self.road_camera = create_camera(fov=40, callback=self.cam_callback_road)
|
||||
if dual_camera:
|
||||
self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts
|
||||
else:
|
||||
self.road_wide_camera = None
|
||||
|
||||
# re-enable IMU
|
||||
imu_bp = blueprint_library.find('sensor.other.imu')
|
||||
imu_bp.set_attribute('sensor_tick', '0.01')
|
||||
self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle)
|
||||
|
||||
gps_bp = blueprint_library.find('sensor.other.gnss')
|
||||
self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle)
|
||||
self.params.put_bool("UbloxAvailable", True)
|
||||
|
||||
self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle]
|
||||
|
||||
def close(self):
|
||||
for s in self.carla_objects:
|
||||
if s is not None:
|
||||
try:
|
||||
s.destroy()
|
||||
except Exception as e:
|
||||
print("Failed to destroy carla object", e)
|
||||
|
||||
def carla_image_to_rgb(self, image):
|
||||
rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
|
||||
rgb = np.reshape(rgb, (H, W, 4))
|
||||
return np.ascontiguousarray(rgb[:, :, [0, 1, 2]])
|
||||
|
||||
def cam_callback_road(self, image):
|
||||
with self.image_lock:
|
||||
self.road_image = self.carla_image_to_rgb(image)
|
||||
|
||||
def cam_callback_wide_road(self, image):
|
||||
with self.image_lock:
|
||||
self.wide_road_image = self.carla_image_to_rgb(image)
|
||||
|
||||
def apply_controls(self, steer_angle, throttle_out, brake_out):
|
||||
self.vc.throttle = throttle_out
|
||||
|
||||
steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio)
|
||||
steer_carla = np.clip(steer_carla, -1, 1)
|
||||
|
||||
self.vc.steer = steer_carla
|
||||
self.vc.brake = brake_out
|
||||
self.vehicle.apply_control(self.vc)
|
||||
|
||||
def read_sensors(self, simulator_state: SimulatorState):
|
||||
simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw
|
||||
|
||||
simulator_state.imu.accelerometer = vec3(
|
||||
self.imu.get_acceleration().x,
|
||||
self.imu.get_acceleration().y,
|
||||
self.imu.get_acceleration().z
|
||||
)
|
||||
|
||||
simulator_state.imu.gyroscope = vec3(
|
||||
self.imu.get_angular_velocity().x,
|
||||
self.imu.get_angular_velocity().y,
|
||||
self.imu.get_angular_velocity().z
|
||||
)
|
||||
|
||||
simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y])
|
||||
|
||||
simulator_state.velocity = self.vehicle.get_velocity()
|
||||
simulator_state.valid = True
|
||||
simulator_state.steering_angle = self.vc.steer * self.max_steer_angle
|
||||
|
||||
def read_cameras(self):
|
||||
pass # cameras are read within a callback for carla
|
||||
|
||||
def tick(self):
|
||||
self.world.tick()
|
||||
|
||||
def reset(self):
|
||||
import carla
|
||||
self.vehicle.set_transform(self.spawn_point)
|
||||
self.vehicle.set_target_velocity(carla.Vector3D())
|
||||
@@ -44,11 +44,10 @@ class SimulatedSensors:
|
||||
if not simulator_state.valid:
|
||||
return
|
||||
|
||||
# transform vel from carla to NED
|
||||
# north is -Y in CARLA
|
||||
# transform from vel to NED
|
||||
velNED = [
|
||||
-simulator_state.velocity.y, # north/south component of NED is negative when moving south
|
||||
simulator_state.velocity.x, # positive when moving east, which is x in carla
|
||||
-simulator_state.velocity.y,
|
||||
simulator_state.velocity.x,
|
||||
simulator_state.velocity.z,
|
||||
]
|
||||
|
||||
|
||||
+1
-17
@@ -1,12 +1,9 @@
|
||||
#!/usr/bin/env python
|
||||
import argparse
|
||||
import os
|
||||
|
||||
from typing import Any
|
||||
from multiprocessing import Queue
|
||||
|
||||
from openpilot.tools.sim.bridge.common import SimulatorBridge
|
||||
from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
|
||||
from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
|
||||
|
||||
|
||||
@@ -15,13 +12,6 @@ def parse_args(add_args=None):
|
||||
parser.add_argument('--joystick', action='store_true')
|
||||
parser.add_argument('--high_quality', action='store_true')
|
||||
parser.add_argument('--dual_camera', action='store_true')
|
||||
parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')
|
||||
|
||||
# Carla specific
|
||||
parser.add_argument('--town', type=str, default='Town04_Opt')
|
||||
parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
|
||||
parser.add_argument('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1'))
|
||||
parser.add_argument('--port', dest='port', type=int, default=2000)
|
||||
|
||||
return parser.parse_args(add_args)
|
||||
|
||||
@@ -29,13 +19,7 @@ if __name__ == "__main__":
|
||||
q: Any = Queue()
|
||||
args = parse_args()
|
||||
|
||||
simulator_bridge: SimulatorBridge
|
||||
if args.simulator == "carla":
|
||||
simulator_bridge = CarlaBridge(args)
|
||||
elif args.simulator == "metadrive":
|
||||
simulator_bridge = MetaDriveBridge(args)
|
||||
else:
|
||||
raise AssertionError("simulator type not supported")
|
||||
simulator_bridge = MetaDriveBridge(args)
|
||||
p = simulator_bridge.run(q)
|
||||
|
||||
if args.joystick:
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker
|
||||
if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
|
||||
read -p "Nvidia docker is required. Do you want to install it now? (y/n)";
|
||||
if [ "${REPLY}" == "y" ]; then
|
||||
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
|
||||
echo $distribution
|
||||
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
|
||||
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
|
||||
sudo apt-get update && sudo apt-get install -y nvidia-docker2 # Also installs docker-ce and nvidia-container-toolkit
|
||||
sudo systemctl restart docker
|
||||
else
|
||||
exit 0
|
||||
fi
|
||||
fi
|
||||
|
||||
docker pull carlasim/carla:0.9.14
|
||||
|
||||
EXTRA_ARGS="-it"
|
||||
if [[ "$DETACH" ]]; then
|
||||
EXTRA_ARGS="-d"
|
||||
fi
|
||||
|
||||
docker kill carla_sim || true
|
||||
docker run \
|
||||
--name carla_sim \
|
||||
--rm \
|
||||
--gpus all \
|
||||
--net=host \
|
||||
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
|
||||
$EXTRA_ARGS \
|
||||
carlasim/carla:0.9.14 \
|
||||
/bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
|
||||
@@ -10,7 +10,7 @@ if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
|
||||
fi
|
||||
|
||||
if [[ "$CI" ]]; then
|
||||
CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py"
|
||||
CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py"
|
||||
else
|
||||
# expose X to the container
|
||||
xhost +local:root
|
||||
|
||||
@@ -1,45 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import subprocess
|
||||
import time
|
||||
import unittest
|
||||
from subprocess import Popen
|
||||
|
||||
from openpilot.selfdrive.manager.helpers import unblock_stdout
|
||||
from openpilot.tools.sim.run_bridge import parse_args
|
||||
from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
|
||||
from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
|
||||
|
||||
from typing import Optional
|
||||
|
||||
class TestCarlaBridge(TestSimBridgeBase):
|
||||
"""
|
||||
Tests need Carla simulator to run
|
||||
"""
|
||||
carla_process: Optional[Popen] = None
|
||||
|
||||
def setUp(self):
|
||||
super().setUp()
|
||||
|
||||
# We want to make sure that carla_sim docker isn't still running.
|
||||
subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
|
||||
self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
|
||||
|
||||
# Too many lagging messages in bridge.py can cause a crash. This prevents it.
|
||||
unblock_stdout()
|
||||
# Wait 10 seconds to startup carla
|
||||
time.sleep(10)
|
||||
|
||||
def create_bridge(self):
|
||||
return CarlaBridge(parse_args([]))
|
||||
|
||||
def tearDown(self):
|
||||
super().tearDown()
|
||||
|
||||
# Stop carla simulator by removing docker container
|
||||
subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
|
||||
if self.carla_process is not None:
|
||||
self.carla_process.wait()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
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