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Indefinite Navigation

Modified today by gibernas

This is the description of the indefinite navigation demo.

Maintainer: Gianmarco Bernasconi

Lane following demo has been successfully launched.

Fully set up Duckietown.

One or more Duckiebot safely navigating in Duckietown.

Video of expected results

Modified 2018-06-24 by Andrea Censi

The video is at https://vimeo.com/247596730.

Demo: indefinite navigation

TODO: add a different video with an up to specification Duckietown.

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The following was marked as "todo".

TODO: add a different video with an up to specification Duckietown.

File book/opmanual_duckiebot/atoms_30_demos/11_indefinite_navigation.md.

File book/opmanual_duckiebot/atoms_30_demos/11_indefinite_navigation.md
in repo duckietown/docs-opmanual_duckiebot branch master18 commit c60a432e
last modified by gibernas on 2019-04-10 15:18:40

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

Duckietown setup notes

Modified today by gibernas

To run this demo, you can setup a quite complex Duckietown. The demo supports normal road tiles, intersections and traffic lights. Make sure that your Duckietown complies with the appereance specifications presented in the Duckietown specs. In particular correct street signaling is key to success of intersections handling.

Duckiebot setup notes

Modified today by gibernas

One (or possibly more) Duckiebot in setup DB-18.

Pre-flight checklist

Modified today by gibernas

Check: Sufficient battery charge of the Duckiebot.

Check: Duckiebot is properly calibrated.

Demo instructions

Modified today by gibernas

Follow these steps to run the indefinite navigation demo on your Duckiebot:

Step 1: Power on your bot.

Step 2: Go to the portainer interface on

http://hostname.local:9000/#/containers

And check that only the necessary containers are running, namely:

roscore
dt18_00_basic_portainer_1
dt18_01_health_stats_rpi-simple-server_1
dt18_01_health_stats_rpi-health_1
dt18_01_health_stats_rpi-duckiebot-loader_1
dt18_01_health_stats_rpi-duckiebot-online_1
dt18_00_basic_watchtower_1

If other containers are running, stop them.

Step 3: Run the base container:

laptop $ docker -H hostname.local run -it --net host --privileged -v /data:/data --name base duckietown/rpi-duckiebot-base:megacity /bin/bash

A shell will open in the new container.

Step 4: Launch the demo in the container by:

duckiebot-container $ source /docker/env.sh
duckiebot-container $ roslaunch duckietown_demos indefinite_navigation.launch

Many nodes need to be launched, so it will take quite some time.

Step 5: In a separate terminal, start a joystick with:

laptop $ dts duckiebot keyboard_control hostname

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