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DB21
DB21M
DB21
,DB21M
start_gui_tools
, ROS tools and no-vnc
DB17
DB18
DB19
Modified 2019-09-27 by Aleksandar Petrov
This is the description of the great and marvelous megacity demo.
Fully set up Duckiebots.
Fully set up Duckietown.
One or more Duckiebot safely navigating in Duckietown.
This is an advanced demo. Make sure you have the experience and the hardware to fully capture its potential.
Modified 2019-04-10 by gibernas
Modified 2019-04-27 by tanij
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 appearance specifications presented in the Duckietown specs (unknown ref opmanual_duckietown/dt-ops-appearance-specifications).
Modified 2019-04-09 by gibernas
One (preferably more) Duckiebot in setup DB-18
.
Modified 2019-04-09 by gibernas
Check: Sufficient battery charge of the Duckiebot.
Check: Duckiebot is properly calibrated.
Modified 2019-05-08 by Gianmarco
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 and wait for the duckiebot-interface
to initialize (the LEDs go off).
Step 2: Launch the demo by running:
laptop $ dts duckiebot demo --demo_name megacity --duckiebot_name DUCKIEBOT_NAME --package_name duckietown_demos
Many nodes need to be launched, so it will take quite some time.
Step 3: With the joystick or In a separate terminal, start the joystick GUI:
laptop $ dts duckiebot keyboard_control hostname
and use the instructions to toggle between autonomous navigation and joystick control modes.
Modified 2019-04-10 by gibernas
The Duckiebot fails at intersections.
This problem is an open development problem, to improve the results tune the parameters of the unicorn_intersection_node
, the procedure is explained in the troubleshooting section (unknown ref trouble-unicorn_intersection).
The demo fails, and it complains of a missing camera calibration file (usually is the ground_projection_node
the first to die)
Run the camera calibration again.
Maintainer: Contact Gianmarco Bernasconi (ETHZ) via Slack for further assistance.