Beginner - Use ROS

What you will need

• A computer set up with the Duckietown software requirements

• An initialized Duckiebot

• Completed tutorial on DTProject

What you will get

• A working knowledge of ROS development in Duckietown

• A custom ROS node with a publisher and a subscriber running on your Duckiebot

Table of contents

• New ROS DTProject
• Catkin Packages
• ROS Publisher
• ROS Subscriber
• Faster Development Workflow
• Subscribe to camera
• Subscribe to wheel encoders
• Publish to wheels
• Publish chassis-level commands

Basic Project Structure

In Duckietown, all software runs in Docker containers. To run ROS-based code on Duckiebot, build a Duckietown‑compliant Docker image containing the ROS software.

A ROS DTProject template is available on the Duckietown GitHub. If the DTProject tutorial was completed, the template contents will be familiar.

As with general DTProjects, instantiate a new repository from the template-ros template on GitHub. The build and execution workflow matches the DTProject tutorial.

Continue to the next sections to develop and deploy custom ROS nodes with publishers and subscribers.