readme for openpilot/tools/sim from the friday afternoon update 28 feb 2020 (before hackathon update)

openpilot-sim-old-README.md

Tested in Ubuntu 16.04 (test machine has GPUs. may need some modification if have no GPU)

How-To-Use:

== 0. Have a working python 3.7.3 with pip ==

== 1. Checkout openpilot ==

cd ~/
git clone -b sim https://github.com/commaai/openpilot.git

== 2. Build openpilot ==

// capnproto and capnpc-c needed for this step, see instruction HERE (2.Install Cap'n Proto)
cd ~/openpilot
scons
sudo cp ./phonelibs/capnp-c/x64/lib/libcapnp_c.so.0 /usr/lib

== 3. Install environment from pipfile ==

(if have pipenv already, skip this step) pip install pipenv
cd ~/openpilot/tools/sim
pipenv install

== 4. Download and unpack CARLA ==

// curl seems to randomly stop when getting big files, so we suggest downloading
// CARLA to ~/openpilot/tools/sim with a browser first then continue
cd ~/openpilot/tools/sim
./get_carla_095.sh

== 5a. Start CARLA server (in terminal tap 1) ==

cd ~/openpilot/tools/sim
./run_carla_095.sh

== 5b. Start openpilot (in terminal tap 2) ==

add 'export PYTHONPATH=$HOME/openpilot' to your ~/.bashrc
cd ~/openpilot/tools/sim
pipenv shell
cd ~/openpilot/selfdrive/
CUDA_VISIBLE_DEVICES='' PASSIVE=0 NOBOARD=1 ./manager.py
// you may need to comment out L47-54 in ./thermald.py, may need not

== 5c. Start bridge (in terminal tap 3) ==

// links carla to openpilot, will "start the car" according to manager
cd ~/openpilot/tools/sim
pipenv shell
./bridge.py
// once started, you can do basic vehicle control, or engage openpilot with logitech G29
// you can also modify the code to drive with any other input method