78 lines
3.1 KiB
Markdown
78 lines
3.1 KiB
Markdown
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# openpilot tools
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## System Requirements
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openpilot is developed and tested on **Ubuntu 24.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
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Most of openpilot should work natively on macOS. On Windows you can use WSL for a nearly native Ubuntu experience. Running natively on any other system is not currently recommended and will likely require modifications.
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## Native setup on Ubuntu 24.04 and macOS
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**1. Clone openpilot**
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NOTE: This repository uses Git LFS for large files. Ensure you have [Git LFS](https://git-lfs.com/) installed and set up before cloning or working with it.
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Either do a partial clone for faster download:
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``` bash
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git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git
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```
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or do a full clone:
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``` bash
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git clone --recurse-submodules https://github.com/commaai/openpilot.git
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```
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**2. Run the setup script**
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``` bash
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cd openpilot
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tools/op.sh setup
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```
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**3. Git LFS**
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``` bash
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git lfs pull
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```
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**4. Activate a python shell**
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Activate a shell with the Python dependencies installed:
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``` bash
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source .venv/bin/activate
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```
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**5. Build openpilot**
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``` bash
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scons -u -j$(nproc)
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```
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## WSL on Windows
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[Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
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Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-24.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
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**NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
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## CTF
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Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md).
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## Directory Structure
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```
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├── ubuntu_setup.sh # Setup script for Ubuntu
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├── mac_setup.sh # Setup script for macOS
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├── cabana/ # View and plot CAN messages from drives or in realtime
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├── camerastream/ # Cameras stream over the network
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├── joystick/ # Control your car with a joystick
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├── lib/ # Libraries to support the tools and reading openpilot logs
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├── plotjuggler/ # A tool to plot openpilot logs
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├── replay/ # Replay drives and mock openpilot services
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├── scripts/ # Miscellaneous scripts
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├── serial/ # Tools for using the comma serial
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├── sim/ # Run openpilot in a simulator
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└── webcam/ # Run openpilot on a PC with webcams
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```
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