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Cameron Clough edited this page Nov 5, 2022 · 68 revisions

Run openpilot in the driving simulator world CARLA.

Simulator README - Instructions for running openpilot and Carla.

Running simulation in PC - Instructions

Install Drivers and Software

Download and Install Ubuntu 20.04

Create an Ubuntu USB stick for install

Update Nvidia Drivers

Open a Terminal window by pressing Ctrl + Alt + T

sudo apt-get update

sudo apt-get upgrade -y

ubuntu-drivers devices

look for the driver that has "recommended" at the end

for example, the 450 version install command is show below:

sudo apt install nvidia-driver-450

sudo reboot

Install Docker

sudo apt install curl

curl | sh \ && sudo systemctl start docker \ && sudo systemctl enable docker

Tips and Troubleshooting

scrolling press ` and [

exit scroll mode press q

As an aside you can add yourself to the docker group with sudo usermod -aG docker $USER then logout/login to not have to sudo everything

ctrl+d to exit container

ctrl+c to kill process

sudo service docker restart

Carla scene is slow or fails to load in openpilot ui window

Try setting CARLA to the low quality rendering

Open the file openpilot/tools/sim/ in the ubuntu file explorer

on the last line, add ./ -quality-level=Low to the end of the docker command. It should look like the following:

docker run -it --net=host --gpus all carlasim/carla:0.9.7 ./ -quality-level=Low

Noted Dependencies

  • "think is some dependency conflict between cuda 10.2/11, cudnn 7.5/8 and the pypi shipped onnxrunner binaries" - marsch

  • "onnxruntime-gpu 1.5.2 relies on cuda 10.2"

  • "OSError: cannot open shared object file: No such file or directory"

    • "cuda 10.2 instead of 11.1"

See Also

openpilot sim

Many users and developers hang out in the Discord's #openpilot-simulation.

Download Page

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