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Duckiebot V2 Lane Following

Modified 2020-03-04 by Timothy Scott

A Duckiebot fully setup and calibrated according to Part E - Duckiebot V2 Setup

Duckiebot will perform lane following using the camera.

DBV2 can do the same lane following demo as DB18: Using only the camera and no additional sensors, it can follow a lane. It also has vehicle detection/avoidance using the circle pattern on the backs of the Duckiebots.

This demo uses almost entirely the same code as DB18, with the exception of the kinematics node, wheels driver, and lane controller node. If the wheel encoder is present, the kinematics node will use it for closed-loop speed control, as described in Unit E-6 - Calibration - Kinematics. To disable this, you can unplug the wheel encoder, or stop the encoder node.


Modified 2020-03-04 by Timothy Scott

Follow the procedure described in Section 0.3 - Launching demos, and then run this command:

$ roslaunch duckietown_demos_dbv2 lane_following_dbv2.launch

Videos and Images

Modified 2020-03-04 by Timothy Scott

TODO: Add video lane_following.mp4

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The following was marked as "todo".

TODO: Add video lane_following.mp4

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Created by function n/a in module n/a.
Graph of demanded speed vs. speed measured by the wheel encoder