Simulator: remove carla (commaai#30690)

* no carla

* no arg and stylize metadrive

.devcontainer/devcontainer.json

@@ -11,7 +11,6 @@
     "DISPLAY": "${localEnv:DISPLAY}",
     "PYTHONPATH": "${containerWorkspaceFolder}",
     "TERM": "xterm-256color",
-    "CARLA_HOST": "host.docker.internal",
     "force_color_prompt": "1"
   },
   "runArgs": [

README.md

@@ -58,7 +58,7 @@ All openpilot services can run as usual on a PC without requiring special hardwa
 
 With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
+You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
 
 A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
 

pyproject.toml

@@ -168,12 +168,6 @@ types-tabulate = "*"
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
 
-[tool.poetry.group.carla]
-optional = true
-
-[tool.poetry.group.carla.dependencies]
-carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
-
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"

tools/sim/README.md

@@ -1,7 +1,7 @@
 openpilot in simulator
 =====================
 
-openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
 
 ## Launching openpilot
 First, start openpilot.
@@ -13,8 +13,7 @@ First, start openpilot.
 ## Bridge usage
 ```
 $ ./run_bridge.py -h
-usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
-
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR]
 Bridge between the simulator and openpilot.
 
 options:
@@ -23,10 +22,6 @@ options:
   --high_quality
   --dual_camera
   --simulator SIMULATOR
-  --town TOWN
-  --spawn_point NUM_SELECTED_SPAWN_POINT
-  --host HOST
-  --port PORT
 ```
 
 #### Bridge Controls:
@@ -53,32 +48,4 @@ options:
 Start bridge processes located in tools/sim:
 ``` bash
 ./run_bridge.py --simulator metadrive
-```
-
-## Carla
-
-CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
-
-```bash
-poetry install --with=carla
-```
-
-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.
-
-### Launching Carla
-Start Carla simulator and bridge processes located in tools/sim:
-``` bash
-# Terminal 1
-./start_carla.sh
-
-# Terminal 2
-./run_bridge.py --simulator carla
-```
-
-## Further Reading
-
-The following resources contain more details and troubleshooting tips.
-* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)
+```