Quick startΒΆ

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 run ./scripts/install-nvidia-docker.sh.

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

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: