Getting started developing in Duckiematrix

Setup environment

1. Clone the needed repositories:

   git clone [email protected]:duckietown/dt-duckiematrix.git
   git clone [email protected]:duckietown/duckiematrix.git
   git clone [email protected]:duckietown/duckiematrix-examples.git
   

Structure of the software

The file entities are defined in packages/duckiematrix_engine/entites. To define a new entity, inheriting i.e. from DifferentialDriveVehicleEntityAbs we can create a new file e.g. DynamicsVehicleEntity.py

Workflow

It is useful to have an overview of the development workflow:

1. Make changes to source code in packages/duckiematrix_engine (repo dt-duckiematrix)

2. Build the new engine for Duckiematrix

3. Run it

Building the project

In this step we need to build the engine with the changes we made, in order to test them. This step will build a new image of the duckiematrix that will be automatically pushed to the Docker registry and used for running the duckiematrix locally. To build the Docker image run:

dts devel build

Running the project

This image will be used by default by the Duckiematrix to run. As an example if you want to test a change locally in the sandbox map you can execute:

dts matrix run --sandbox --standalone