Running On Simulation

Note: while flowpilot dosen't requires very high system requirements, CARLA is very resource intensive and running both of them in parallel will sometimes cause crashes due to high memory usage. Try this only if you have atleast a good gpu. GTX 1050 gpu is verified to work ok with this, less powerful gpus will also most probably work.

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

• Install flowpilot desktop. Follow this guide.
• 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.