The easiest way to run Pylot is to use our Docker image. First, please ensure
you have nvidia-docker on your machine before you start installing Pylot.
In case you do not have nvidia-docker please
We provide a Docker image with both Pylot and CARLA already setup.
docker pull erdosproject/pylot nvidia-docker run -itd --name pylot -p 20022:22 erdosproject/pylot /bin/bash
Following, start the simulator in the container:
nvidia-docker exec -i -t pylot /home/erdos/workspace/pylot/scripts/run_simulator.sh
Finally, start Pylot in the container:
nvidia-docker exec -i -t pylot /bin/bash cd workspace/pylot/ python3 pylot.py --flagfile=configs/detection.conf
In case you desire to visualize outputs of different components (e.g., bounding boxes),
you have to forward X from the container. First, add your public ssh key to the
~/.ssh/authorized_keys in the container:
nvidia-docker cp ~/.ssh/id_rsa.pub pylot_new:/home/erdos/.ssh/authorized_keys nvidia-docker exec -i -t pylot_new sudo chown erdos /home/erdos/.ssh/authorized_keys nvidia-docker exec -i -t pylot /bin/bash sudo service ssh start exit
Finally, ssh into the container with X forwarding:
ssh -p 20022 -X erdos@localhost /bin/bash cd /home/erdos/workspace/pylot/ python3 pylot.py --flagfile=configs/detection.conf --visualize_detected_obstacles
If everything worked ok, you should be able to see a window that visualizes detected obstacles like the one below: