Map Layers

The Duckiematrix uses the v2 map format to represent the world, which breaks the map up into a set of YAML files called layers, each adding information about the world.

For example, a Duckietown robot in the scene has its:

• position and orientation described in the frames.yaml layer

• model and color described in the vehicles.yaml layer

• camera’s intrinsic parameters described in the camera.yaml layer