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Running On Simulation

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MankaranSingh edited this page May 24, 2023 · 4 revisions

Following steps will help you get carla simulation - flowpilot integration up and running:

  • Tested on carla 0.9.12. Download binary from here.
  • Download carla-py, unzip and install with pip install -e carla-py. Make sure you are in the flowpilot env.
  • It is recommended to run flowpilot with gpu accelaration because carla has high system requirements.
  • In launch sctipt, comment out or remove the ROAD_CAMERA_SOURCE variable to allow flowpilot to accept video from external camera source (carla in this case).
  • Uncomment the export FINGERPRINT="HONDA CIVIC 2016" line in lanuch script. We emulate the HONDA CIVIC 2016 car for simulation.
  • Set dummy parameters using python scripts/dummy_params.py.
  • start carla simulation using ./CarlaUE4.sh -RenderOffScreen
  • In one terminal, launch flowpilot and in other, launch python tool/sim/bridge.py
  • Once everything initializes, you can engage flowpilot to drive the car using combination of 1 (cruise up) or 2 (cruise down) keys. You can override the car using WASD and drive around manually. You can use i key to toggle ignition.
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