pylot
Modular autonomous driving platform running on the CARLA simulator and real-world vehicles.
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Download Latest Version (.zip)- ci.yml
- docs.yml
- car_alley.conf
- car_alley_static_deadlines.conf
- car_running_red_light.conf
- opposite_vehicle_running_red_light_021.conf
- person_avoidance.conf
- person_avoidance_frenet.conf
- person_avoidance_frenet_pseudoasync.conf
- person_avoidance_hastar.conf
- person_avoidance_rrt.conf
- person_avoidance_rrt_pseudoasync.conf
- person_avoidance_static_deadlines.conf
- person_avoidance_waypoint.conf
- person_crossing_frenet.conf
- person_crossing_rrt.conf
- tracker_evaluation.conf
- traffic_jam_static_deadlines.conf
- data_gatherer.conf
- data_gatherer_w_localization_noise.conf
- demo.conf
- depth_estimation.conf
- detection.conf
- e2e.conf
- frenet_optimal_trajectory_planner.conf
- hybrid_astar_planner.conf
- lane_detection.conf
- lane_detection_data.conf
- lincoln.conf
- lincoln_frenet.conf
- lincoln_waypoints.conf
- mpc.conf
- obstacle_accuracy.conf
- perception.conf
- perfect_detection.conf
- perfect_lane_detection.conf
- prediction.conf
- rrt_star_planner.conf
- segmentation.conf
- tracking.conf
- traffic_light.conf
- coco.names
- pylot.names
- __init__.py
- .gitignore
- pylot-lane-detection.png
- pylot-obstacle-detection.png
- pylot-planning.png
- pylot-segmentation.png
- pylot-traffic-light-detection.png
- pylot.png
- world-visualization.png
- conf.py
- control.rst
- data_gathering.rst
- deploy.rst
- drivers.rst
- index.rst
- localization.rst
- manual_installation.rst
- map.rst
- package_reference.rst
- perception.depth_estimation.rst
- perception.detection.rst
- perception.rst
- perception.segmentation.rst
- perception.tracking.rst
- planning.rst
- prediction.rst
- pylot.control.mpc.rst
- pylot.control.rst
- pylot.debug.rst
- pylot.drivers.rst
- pylot.localization.rst
- pylot.loggers.rst
- pylot.map.rst
- pylot.perception.depth_estimation.rst
- pylot.perception.detection.rst
- pylot.perception.fusion.rst
- pylot.perception.rst
- pylot.perception.segmentation.rst
- pylot.perception.tracking.rst
- pylot.planning.frenet_optimal_trajectory.rst
- pylot.planning.hybrid_astar.rst
- pylot.planning.rrt_star.rst
- pylot.planning.rst
- pylot.prediction.rst
- pylot.simulation.challenge.rst
- pylot.simulation.rst
- quick_start.rst
- simulation.rst
- visualization.rst
- make.bat
- Makefile
- README.md
- requirements-doc.txt
- build_images.sh
- Dockerfile
- Dockerfile-challenge.master
- run_container_on_linconln.sh
- __init__.py
- mpc.py
- mpc_operator.py
- utils.py
- __init__.py
- control_eval_operator.py
- flags.py
- messages.py
- pid.py
- pid_control_operator.py
- time_to_decision_operator.py
- utils.py
- __init__.py
- flags.py
- visualizer_operator.py
- __init__.py
- carla_camera_driver_operator.py
- carla_collision_sensor_operator.py
- carla_gnss_driver_operator.py
- carla_imu_driver_operator.py
- carla_lane_invasion_sensor_operator.py
- carla_lidar_driver_operator.py
- carla_traffic_light_invasion_sensor_operator.py
- drive_by_wire_operator.py
- grasshopper3_driver_operator.py
- sensor_setup.py
- velodyne_driver_operator.py
- __init__.py
- localization_operator.py
- messages.py
- ndt_autoware_operator.py
- __init__.py
- bounding_box_logger_operator.py
- camera_logger_operator.py
- chauffeur_logger_operator.py
- eval_metric_logger_operator.py
- gnss_logger_operator.py
- imu_logger_operator.py
- lidar_logger_operator.py
- multiple_object_tracker_logger_operator.py
- pose_logger_operator.py
- trajectory_logger_operator.py
- __init__.py
- hd_map.py
- lane_map.py
- __init__.py
- depth_estimation_operator.py
- __init__.py
- detection_decay_operator.py
- detection_eval_operator.py
- detection_operator.py
- efficientdet_operator.py
- lane.py
- lane_detection_canny_operator.py
- lanenet_detection_operator.py
- obstacle.py
- obstacle_location_finder_operator.py
- speed_limit_sign.py
- stop_sign.py
- traffic_light.py
- traffic_light_det_operator.py
- utils.py
- __init__.py
- fusion_operator.py
- fusion_verification_operator.py
- __init__.py
- segmentation_decay_operator.py
- segmentation_drn_operator.py
- segmentation_eval_operator.py
- segmented_frame.py
- __init__.py
- center_track_operator.py
- da_siam_rpn_tracker.py
- deep_sort_tracker.py
- multi_object_tracker.py
- object_tracker_operator.py
- obstacle_location_history_operator.py
- obstacle_trajectory.py
- qd_track_operator.py
- sort_tracker.py
- tracking_eval_operator.py
- __init__.py
- base_perception_eval_operator.py
- camera_frame.py
- depth_frame.py
- flags.py
- messages.py
- point_cloud.py
- __init__.py
- flags.py
- fot_planner.py
- __init__.py
- flags.py
- hybrid_astar_planner.py
- __init__.py
- flags.py
- rrt_star_planner.py
- __init__.py
- behavior_planning_operator.py
- cost_functions.py
- flags.py
- messages.py
- planner.py
- planning_operator.py
- utils.py
- waypoints.py
- world.py
- __init__.py
- flags.py
- linear_predictor_operator.py
- messages.py
- obstacle_prediction.py
- prediction_eval_operator.py
- r2p2_predictor_operator.py
- utils.py
- __init__.py
- challenge.conf
- challenge_sensors.conf
- ERDOSAgent.py
- ERDOSBaseAgent.py
- ERDOSTrack4Agent.py
- __init__.py
- carla_operator.py
- flags.py
- messages.py
- perfect_detector_operator.py
- perfect_lane_detector_operator.py
- perfect_tracker_operator.py
- perfect_traffic_light_detector_operator.py
- planning_pose_synchronizer_operator.py
- synchronizer_operator.py
- utils.py
- __init__.py
- component_creator.py
- flags.py
- operator_creator.py
- utils.py
- collect_data.sh
- collect_sign_data.sh
- compute_decay.py
- convert_carla_to_coco.py
- create_obj_detection_tf_records.py
- gen_crops_from_obj_tracker_logs.py
- install-nvidia-docker.sh
- lanenet_data_process.py
- map_scenario_runner.py
- miou_scenario_runner.py
- rename_logged_data.py
- replay.py
- replay_logs.sh
- run_map_experiments.sh
- run_miou_experiments.sh
- run_simulator.sh
- set_pythonpath.sh
- sign_data_gatherer.py
- check_3d_2d_conversions.py
- check_canny_lane_detection.py
- check_lanenet_lane_detection.py
- mocked_carla.py
- requirements.txt
- test_determinism.sh
- test_point_cloud.py
- test_sensor_setup.py
- test_transforms.py
- .gitignore
- .style.yapf
- CHANGELOG.md
- data_gatherer.py
- install.sh
- LICENSE
- lincoln.py
- pylot.py
- README.md
- requirements.txt
- setup.py
# Installation Guide
1. Get the code
git clone https://github.com/erdos-project/pylot
Downloads the entire project code from GitHub to your computer.
cd pylot
Moves into the project folder you just downloaded.
2. Docker
Easy RecommendedPrerequisites
- Git Needed to download the project code from GitHub.
- Docker Desktop Needed to build and run containers. Install it and keep it running in the background.
We provide a Docker image with both Pylot and CARLA already setup.
Type this command into your terminal and run it.
cd docker
Moves into the project folder you just downloaded.
docker pull erdosproject/pylot-carla-challenge
Type this command into your terminal and run it.
nvidia-docker run -itd --name pylot-challenge -p 20022:22 erdosproject/pylot-carla-challenge /bin/bash
Runs the built image as an actual container.
Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.
Pulled directly from this repo's README.
3. Python
EasyPrerequisites
cd ${LEADERBOARD_ROOT} ; pip3 install -r requirements.txt ; cd ${CHALLENGE_ROOT}
Moves into the project folder you just downloaded.
cd ${SCENARIO_RUNNER_ROOT} ; pip3 install -r requirements.txt ; cd ${CHALLENGE_ROOT}
Moves into the project folder you just downloaded.
If it runs without errors and prints output in the terminal, it worked.
Pulled directly from this repo's README.
4. Make
MediumPrerequisites
- Git Needed to download the project code from GitHub.
- Make Usually pre-installed on Linux/macOS. On Windows, install separately (e.g. via MSYS2 or WSL).
cd doc
This project's files live in a subfolder, so move into it first.
make
Compiles the code based on the generated build configuration to produce an executable.
If it finishes without errors, it worked. Try running the generated executable directly.
// repository documentation
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