版本說明：
ubuntu 20.04
carlasim/carla 0.9.11
openpilot Version 0.8.9 (2021-08-XX) 下載自github，持續更新
今天在瀏覽文件的時候，看見官網的文件里說：
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)
於是我找到了tools/sim/README.md，查看了里面的內容，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)
進入文件夾，運行如下命令：
./start_carla.sh
然后他提示：
Nvidia docker is required. Re-run with INSTALL=1 to automatically install.
所以，加入參數后運行：
INSTALL=1 ./start_carla.sh
然后，又提示缺少docker。docker的安裝步驟參考下文：
https://blog.csdn.net/BigData_Mining/article/details/104991349
安裝之后，如果出現Permession deneyed的報錯還需要進行如下配置：
sudo chmod a+rw /var/run/docker.sock
完成后，輸入docker version，如果輸出如下就說明docker可以用了：
再次運行start_carla.sh，會下載carla的image，用於在docker中啟動虛擬駕駛，耐心等待。
下在完成后，報錯：
docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]].
重啟docker:
sudo systemctl restart docker
再次運行start_carla.sh:
./start_carla.sh
顯示以下信息：
4.24.3-0+++UE4+Release-4.24 518 0
Disabling core dumps.
sh: 1: xdg-user-dir: not found
此時，打開新終端，進入openpilot/tools/sim輸入以下命令：
./start_openpilot_docker.sh
如果你是第一次運行，會下載openpilot的image，完成后，會出現一個ui界面，此時，在剛剛運行./start_openpilot_docker.sh的終端中持續按1，會進入自動駕駛的虛擬環境中。
但是，僅僅這樣還是不夠的。依照官方的說明，在終端2中按“1”建會開啟自動駕駛並且增加自動駕駛的速度，然而，如果你嘗試去按1，ui界面屏幕中會出現"openpilot not available ..."的錯誤。因此，我們還需要對openpilot的代碼進行修改，具體步驟如下：
1.首先關閉剛剛打開的兩個終端，結束docker在運行的容器。
2.找到openpilot/selfdrive/manager/manager.py
3.進行如下修改：
將紅色的部分修改為綠色，補充判定的邏輯。
4.中心運行start_carla.sh和start_openpilot_docker.sh
至此，openpilot在虛擬環境中便可以正常運行。
對於該問題的詳細內容，請參考我的github：Torch-HXM
2021年8月31日09:58:53