版本说明：
ubuntu 20.04
carlasim/carla 0.9.11
openpilot Version 0.8.9 (2021-08-XX) 下载自github，持续更新
今天在浏览文件的时候，看见官网的文件里说：
Testing on PC ------ For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes. Steps: 1) Start the CARLA server on first terminal ``` bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)" ``` 2) Start openpilot on second terminal ``` bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)" ``` 3) Press 1 to engage openpilot See the full [README](tools/sim/README.md)
于是我找到了tools/sim/README.md，查看了里面的内容，如下：
openpilot in simulator ===================== ## Running the simulator First, start the CARLA server. ``` ./start_carla.sh ``` Then start bridge and openpilot. ``` ./start_openpilot_docker.sh ``` To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed. ## Controls You can control openpilot driving in the simulation with the following keys | key | functionality | | :---: | :---------------: | | 1 | Cruise up 5 mph | | 2 | Cruise down 5 mph | | 3 | Cruise cancel | | q | Exit all | To see the options for changing the environment, such as the town, spawn point or precipitation, you can run `./start_openpilot_docker.sh --help`. This will print the help output inside the docker container. You need to exit the docker container before running `./start_openpilot_docker.sh` again. ## System Requirements openpilot doesn't have any extreme hardware requirements, however CARLA is very resource-intensive and may not run smoothly on your system. For this case, we have a low quality mode you can activate by running: ``` ./start_openpilot_docker.sh --low_quality ``` NOTE: [CARLA requires](https://carla.readthedocs.io/en/latest/build_docker/) an NVIDIA graphics card. 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 ## Further Reading The following resources contain more details and troubleshooting tips. * [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)
进入文件夹，运行如下命令：
./start_carla.sh
然后他提示：
Nvidia docker is required. Re-run with INSTALL=1 to automatically install.
所以，加入参数后运行：
INSTALL=1 ./start_carla.sh
然后，又提示缺少docker。docker的安装步骤参考下文：
https://blog.csdn.net/BigData_Mining/article/details/104991349
安装之后，如果出现Permession deneyed的报错还需要进行如下配置：
sudo chmod a+rw /var/run/docker.sock
完成后，输入docker version，如果输出如下就说明docker可以用了：
再次运行start_carla.sh，会下载carla的image，用于在docker中启动虚拟驾驶，耐心等待。
下在完成后，报错：
docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]].
重启docker:
sudo systemctl restart docker
再次运行start_carla.sh:
./start_carla.sh
显示以下信息：
4.24.3-0+++UE4+Release-4.24 518 0
Disabling core dumps.
sh: 1: xdg-user-dir: not found
此时，打开新终端，进入openpilot/tools/sim输入以下命令：
./start_openpilot_docker.sh
如果你是第一次运行，会下载openpilot的image，完成后，会出现一个ui界面，此时，在刚刚运行./start_openpilot_docker.sh的终端中持续按1，会进入自动驾驶的虚拟环境中。
但是，仅仅这样还是不够的。依照官方的说明，在终端2中按“1”建会开启自动驾驶并且增加自动驾驶的速度，然而，如果你尝试去按1，ui界面屏幕中会出现"openpilot not available ..."的错误。因此，我们还需要对openpilot的代码进行修改，具体步骤如下：
1.首先关闭刚刚打开的两个终端，结束docker在运行的容器。
2.找到openpilot/selfdrive/manager/manager.py
3.进行如下修改：
将红色的部分修改为绿色，补充判定的逻辑。
4.中心运行start_carla.sh和start_openpilot_docker.sh
至此，openpilot在虚拟环境中便可以正常运行。
对于该问题的详细内容，请参考我的github：Torch-HXM
2021年8月31日09:58:53