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Megacity

Modified 2 days ago by gibernas

This is the description of the great and marvelous megacity demo.

Maintainer: Gianmarco Bernasconi

Fully set up Duckiebots

Fully set up Duckietown.

One or more Duckiebot safely navigating in Duckietown.

This demo is designed to be used in robotariums, by expert users. Make sure you have the experience and the hardware to fully capture the potential of the demo.

Video of expected results

Modified 2 days ago by gibernas

TODO: Add a video with an up to specification Duckietown.

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The following was marked as "todo".

TODO: Add a video with an up to specification Duckietown.

File book/opmanual_duckiebot/atoms_30_demos/30_advanced_demos/39_megacity.md.

File book/opmanual_duckiebot/atoms_30_demos/30_advanced_demos/39_megacity.md
in repo duckietown/docs-opmanual_duckiebot branch master19-liam commit 07d4c56c
last modified by gibernas on 2019-04-10 14:59:01

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

Duckietown setup notes

Modified 2 days ago by gibernas

To run this demo, you can push your fantasy to the limit by building the Duckietown. The demo supports (almost) everything that is currently implemented. Make sure that your Duckietown complies with the appereance specifications presented in the Duckietown specs.

Duckiebot setup notes

Modified 2 days ago by gibernas

One (preferably more) Duckiebot in setup DB-18.

Pre-flight checklist

Modified 2 days ago by gibernas

Check: Sufficient battery charge of the Duckiebot.

Check: Duckiebot is properly calibrated.

Demo instructions

Modified yesterday by gibernas

You will have to repeat the instructions for each of the Duckiebots

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 megacity.launch

Many nodes need to be launched, so it will take quite some time. Moreover the CPU load will be extremely high during the demo.

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

laptop $ dts duckiebot keyboard_control hostname

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