General Demo Running Procedure
General Demo Running Procedure#
This page describes the basic procedure for running demos. Some demos have specific requirements that must be adhered to, but the general process of running them through the Duckietown shell is standardized.
In the Duckietown dt-core, some ROS packages serve as building blocks for complex demos. Each package contains node-specific launch files. The
duckietown_demos package contains demo launch files that combine multiple node launch files and adds the necessary connections to stage demos that use dozens of nodes.
The launch procedure for both types is very similar. The generic command is:
dts duckiebot demo --duckiebot_name ![DUCKIEBOT_NAME] --demo_name ![DEMO_NAME] --package_name ![PACKAGE_NAME] --image duckietown/![IMAGE]:daffy
This command will start the
DEMO_NAME.launch launch file in the
PACKAGE_NAME package from the
duckietown/![IMAGE]:daffy Docker image on the
daffy is the development branch and the
dts commands work by default with the
master19 version. That is why you should always specify the image with the
You can find the specific command for each demo in the corresponding part of the book.
You can open a terminal in the container running the demo you want by appending the option
--debug to the command. An example is:
dts duckiebot demo --duckiebot_name ![DUCKIEBOT_NAME] --demo_name ![DEMO_NAME] --package_name ![PACKAGE_NAME] --image duckietown/![IMAGE]:daffy --debug
This enables you to access to the
ROS debug informations of the nodes that are launched. This is the same output that you can see in the
logs window of the particular container on Portainer.