Demo: Lane Following

Introduction

This demo reproduces the lane following demo by executing each of the libraries in the pipeline. There is no ROS involved, it is pure python.

This demo is designed to work with the map loop_0, which can be found in the duckiematrix-examples repository. For this demo, using a different map might not produce the expected result, as the requested vehicle might not be present in the other map.

Step 1: Build the demo

To build the demo, open a terminal and run the following command from the duckiematrix-examples/vehicle/demos/lane_following directory:

dts devel build --pull

Step 2: Run the Duckiematrix

To launch the Duckiematrix renderer on the map loop_0, open another terminal and run the following command from the duckiematrix-examples/maps directory:

dts matrix run --standalone --map loop_0

Note

If you are running on MacOS you will see the Finder open and you should click on the Duckiematrix icon to start the renderer

Step 3: Run the demo

To run the demo, once built, run the following command in the first terminal:

dts devel run -X

You should see a matplotlib window pop up and the Duckiebot starting to move, as shown in the following video: