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Installing OpenPilot

Install dependencies for Carla for Ubuntu

Run these commands on a clean install of Ubuntu 20.04 and it works for me. Install a few prerequisites:

sudo apt-get update -y
sudo apt-get upgrade -y
sudo apt-get install git -y
sudo apt-get install pipenv -y
# Install openpilot
cd ~
git clone https://github.com/commaai/openpilot.git
cd openpilot 
git submodule update --init
tools/ubuntu_setup.sh
cd ~/openpilot && pipenv shell
scons -u -j$(nproc)
# Install Docker
sudo apt update
sudo apt install apt-transport-https ca-certificates curl software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu focal stable"
apt-cache policy docker-ce
sudo apt install docker-ce
sudo systemctl status docker
sudo usermod -aG docker ${USER}
su - ${USER}
groups

Terminal 1:

cd ~/openpilot && pipenv shell
cd ~/openpilot/tools/sim
sudo INSTALL=1 ./start_carla.sh

Terminal 2:

cd ~/openpilot && pipenv shell
cd ~/openpilot/tools/sim
./start_openpilot_docker.sh

OpenPilot-distributed instructions for installation can be found here: Installing OpenPilot

OpenPilot (tag): 6be70a063dfc96b9e9f097f439bdc2e0be54d6d9
openpilot_docker (tag): sha256:35ff99c6004869d97d05a90fa77668f732596d74886f9a5c5fe5003233536b2f
Carla (Version): 0.9.12 (edited)

Controlling OpenPilot within Docker

commands

To scroll: press ` and [

To exit scroll mode: press q

To exit container: ctrl+d

To kill process: ctrl+c

OpenPilot Limitations

Listed here

Troubleshooting

Stable openpilot version

Commits to master branch

OpenPilot only tags the latest docker image, but you can still pull from all untagged docker images

"OpenPilot Unavailable: communication error between processes"

Sometimes this can occur if the OpenPilot docker has been restarted but the Carla docker has not, or vice versa. It is better to restart both docker containers each time you run your code with changes.

If the problem persists, close OpenPilot docker and rebuild. To rebuild, run:

cd openpilot/tools
./ubuntu_setup.sh
cd ..
./update_requirements.sh
USE_FRAME_STREAM=1 scons -j$(nproc)

Carla is lagging like crazy

Inside tools/sim/start_carla.sh 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

To run low quality

./start_openpilot_docker.sh --low_quality

Troublshooting Nvidia Graphics Card Driver: You might run into some issues with your Nvidia driver. To check if this is the issue run the command: nvidia-smi If this command fails, you will need to install a new driver. You can do this though a GUI: search->Additional Drivers->selected the proprietary, recommended and tested driver Otherwise you can install a new driver in the terminal using: ubuntu-drivers devices Look at the output for the recommended driver and then run

sudo apt install <insert the driver name here>

Can't find your issue anywhere?

Join the OpenPilot discord.