CARLA

Run openpilot in the driving simulator world CARLA.

Simulator Read Me - Instructions for running openpilot and Carla.

Install Drivers and Software

Download and Install Ubuntu

https://ubuntu.com/download/desktop

Create an Ubuntu USB stick for install https://ubuntu.com/tutorials/create-a-usb-stick-on-windows#1-overview

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 https://get.docker.com | sh \
&& sudo systemctl start docker \
&& sudo systemctl enable docker

sudo docker run hello-world

Install openpilot and carla

sudo apt install git

git clone https://github.com/commaai/openpilot.git

cd openpilot/tools/sim

./install_carla.sh

Install drivers and start carla

sudo INSTALL=1 ./start_carla.sh

Run openpilot

Open a second terminal window by pressing Ctrl + Alt + T

cd openpilot/tools/sim

sudo ./start_openpilot_docker.sh

Tips and Troubleshooting

`+0

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

"communication issue between processes"

see github issue - https://github.com/commaai/openpilot/issues/2501

disable the issue in controllerd:212 controlsd.py

everything with ctrl+c in both windows, edit file, run openpilot script in window 0 and bridge in window 1

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/start_carla.sh in the ubuntu file explorer

on the last line, add ./CarlaUE4.sh -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 ./CarlaUE4.sh -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: libcublas.so.10: cannot open shared object file: No such file or directory"

  • "cuda 10.2 instead of 11.1"

See Also

openpilot sim

https://carla.readthedocs.io/en/latest/core_concepts/

https://carla.readthedocs.io/en/latest/start_quickstart/

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

Download Page

https://github.com/carla-simulator/carla/blob/master/Docs/download.md