Getting Started Developing in the Duckiematrix
Contents
Getting Started Developing in the Duckiematrix#
Setup environment#
Clone the required 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 from DifferentialDriveVehicleEntityAbs, for example, create a new file, such as DynamicsVehicleEntity.py.
Workflow#
It is useful to have an overview of the development workflow:
Make changes to the source code in
packages/duckiematrix_engine(thedt-duckiematrixrepository)Build the new engine for the Duckiematrix
Run it
Building the project#
To test any changes made, the engine needs to be built, incorporating those changes. 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.
To test a change locally in the sandbox map, run:
dts matrix run --sandbox --standalone