On the robot:
First you need to compile the most recent version of OpenCV: https://raspberrypi.stackexchange.com/questions/69169/how-to-install-opencv-on-raspberry-pi-3-in-raspbian-jessie
After that clone and install the repo
git clone https://github.com/duckietown/duckietown-slimremote.git
cd duckietown-slimremote
sudo pip3 install -e . # install in developer mode
Once the repo is installed you can start the robot controller with this command:
duckietown-start-robot2
You quit the robot controller via CTRL+c. But the controller should always be running in the background.
On the PC:
Same clone and install procedure as on the robot, but the OpenCV version is not important and the standard platform version should be fine (e.g. on mac that would be brew install opencv3 --with-contrib --with-python3 --without-python for Python 3 bindings).
Afterwards you can run
python3 tests/12-test-keyboard-controller.py
...to get a keyboard controller window that displays the robot's camera and in which you can control the robot via the arrow keys (up/down/left/right)
The main remote control class is
duckietown_slimremote.pc.robot.RemoteRobot
There you can find the methods:
step(action, with_observation=True):
Executes a single motor command. Action but be either tuple, list, or numpy array of two elements. Return an observation that is an RGB image unless with_observation = False in the shape (160,128,3). This is blocking and the call frequency is limited to the image observation frequency which is currently capped to 60Hz.
observe():
Returns the last seen observation (RGB image, identical to step). This is blocking and similarly to step currently capped at 60Hz.
reset():
Stops the robot (sends a [0,0] action).
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