ysli16/duckietown_simulatorwrapper

A ROS wrapper that maps wheel commands to actions and observations to camera images on a ROS topic. Used in duckietown simulator.

Preparation

0.Clone this repositary to your PC

1.Go to simulator_help_files folder. Edit file docker-compose.yaml. Change the 3 lines below volumes to

<path_to_repositary>/simulator_help_files/data:/data

Replace <path_to_repositary> with the directory that you clone the repositary.

Execution

Build simulatorwrapper image

Run command

dts devel build -f

Start related duckiebot containers

Run command docker-compose up from the directory where the file docker-compose.yaml resides.

Start docker container

Run command

dts devel run

Monitor and publish rostopic

Run command

dts start_gui_tools fakebot

or

docker run -it --net host duckietown/dt-ros-commons:daffy-amd64 /bin/bash

To monitor image publisher, run command rqt_image_view and select topic /fakebot/camera_node/image/compressed .

To change wheel velocity, run command rostopic pub /fakebot/wheels_driver_node/wheels_cmd /fakebot/kinematics_node 'auto','X','Y'. Replace X and Y with desired velocity of left and right wheel, respectively.