openpilot-sim-docker

1. Installing Docker

Instructions

1. Update your package index:

   sudo apt-get update

2. Install necessary packages:

   sudo apt-get install \
       ca-certificates \
       curl \
       gnupg \
       lsb-release

3. Add Docker's official GPG key:

   curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg

4. Set up the stable repository:

   echo \
     "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
     $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

5. Update the package index again:

   sudo apt-get update

6. Install Docker Engine:

   sudo apt-get install docker-ce docker-ce-cli containerd.io

7. Verify the Docker installation:

   sudo docker run hello-world

2. Installing Nvidia-Docker-Container

Prerequisites

• Docker installed (see above)
• NVIDIA driver installed on your system

Instructions

1. Add the package repositories:

   distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
   curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
   curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
   sudo apt-get update

2. Install the nvidia-docker2 package:

   sudo apt-get install -y nvidia-docker2

3. Restart the Docker daemon to complete the installation:

   sudo systemctl restart docker

4. Test the installation with a CUDA container:

   sudo docker run --rm --gpus all nvidia/cuda:11.0-base nvidia-smi

3. Pull the dockerfile

docker pull luckydogry/openpilot:1.0

4. Run the simulation

Instructions

1. Start the CARLA simulator(0.9.13) by downloading and running the simulator:

./CarlaUE4.sh

2. Start the docker by running:

./launch_openpilot_docker.sh

3. Launch the openpilot by running the following command inside the docker:

cd /home/batman/openpilot/tools/sim && ./launch_openpilot.sh

4. Launchu the openpilot_bridge by running:

docker exec openpilot_client /bin/bash -c 'cd /home/batman/openpilot/tools/sim && ./bridge.py --town {town} --spawn_location  \'{location}\' --auto-engage >/dev/null \'&"

The location and town parameters should be formatted as '147,-371,2,0,0,0', "Town04."

5. Wait for 10 seconds, and the simulation should start.