Custom Map

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

Obtain a map

You can design your own map using the Duckietown Map Editor, which you can run with:

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

Assuming that you have your map ready to go at ~/loop, remembering that a map is defined by a directory containing all the layers (YAML files) that form the map, you can launch an instance of the Duckiematrix using your map with:

dts matrix run --standalone -m ~/loop

The command above will spin up an engine and renderer using your map. Experiment with changing the map by, for example, rotating the tiles, by changing the yaw angle in the frames.yaml layer. Note that, for any changes in the layers to appear in the renderer, the above command will need to be re-run.