Custom Map

While the sandbox is nice and easy to use, it can get boring. In this section, we will see how we can run the Duckiematrix on a custom map.

Obtain a Map

You can design your own map using the Duckietown Map Editor that you can run with the command,

dts map editor

Alternatively, you can download a very simple map from this link. In this case, unzip the archive so that the file main.yaml is located at ~/loop/main.yaml.

Use a custom map

Let us assume that you have your map ready to go at the path ~/loop/. Remember, a map is defined by a directory containing all the layers (YAML files) that form the map.

We can launch a Duckiematrix on our custom map using the command,

dts matrix run --standalone -m ~/loop/

The command above will spin up an engine and a renderer on your map. Experiment with changing the map, for example by rotating the tiles by changing the yaw angle in the frames.yaml layer. Remember, you have to stop and re-run the command above for any changes in the layers to appear in the renderer.