Welcome to the Duckietown Developer Manual

This manual is for advanced Duckietown users looking to understand more about the Duckietown software architecture, and how to deploy their own code on Duckietown robots.

Basics

• Basics - Terminal
• Basics - Development foreword
  • ISO/IEC 9126
  • Linux distributions
  • Git
  • Docker
  • Duckietown Shell

Beginner

• Beginner - The DTProject
  • New project
  • Add your code
  • Defining DTproject dependencies
  • How to run a DTproject on your Duckiebot
  • Launchers
  • Project Templates
• Beginner - Use ROS
  • 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
• Beginner - Python Library
• Beginner - Code Hierarchy
• Beginner - Documentation
  • Write documentation
  • Build documentation

Intermediate

• The DTROS class
• Intermediate - Diagnostics
  • Introduction
  • Get Started
  • Reference
• Simulation in Duckietown