Release 260308

tools/sim/README.md

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+openpilot in simulator
+=====================
+
+openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA simulator](https://carla.org/).
+
+## System Requirements
+
+openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
+For this case, we have the simulator in low quality by default.
+
+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.
+
+## Running the simulator
+Start Carla simulator, openpilot and bridge processes located in tools/sim:
+``` bash
+# Terminal 1
+./start_carla.sh
+
+# Terminal 2 - Run openpilot and bridge in one Docker:
+./start_openpilot_docker.sh
+
+# Running the latest local code execute
+    # Terminal 2:
+    ./launch_openpilot.sh
+    # Terminal 3
+    ./bridge.py
+```
+
+### Bridge usage
+_Same commands hold for start_openpilot_docker_
+```
+$ ./bridge.py -h
+Usage: bridge.py [options]
+Bridge between CARLA and openpilot.
+
+Options:
+  -h, --help            show this help message and exit
+  --joystick            Use joystick input to control the car
+  --high_quality        Set simulator to higher quality (requires good GPU)
+  --town TOWN           Select map to drive in
+  --spawn_point NUM     Number of the spawn point to start in
+  --host HOST           Host address of Carla client (127.0.0.1 as default)
+  --port PORT           Port of Carla client (2000 as default)
+```
+
+To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
+All inputs:
+
+| key  |   functionality   |
+|:----:|:-----------------:|
+|  1   |  Cruise up 1 mph  |
+|  2   | Cruise down 1 mph |
+|  3   |   Cruise cancel   |
+|  q   |     Exit all      |
+| wasd | Control manually  |
+
+## Further Reading
+
+The following resources contain more details and troubleshooting tips.
+* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)