Virtual Drivers

Virtual drivers allow communication between the Duckiebot ROS stack and the entity in the Duckiematrix.

Implementation status

Driver	Working	Limitations
Camera	Yes
Time of Flight	No
IMU	No
LED	Yes
Encoders	No
Wheels	Partially	The wrong speed is achieved.
Display	Broken

Virtual Drivers I/O Diagram

In the following diagram we show what type of data each of the drivers receives or sends to the Duckiematrix:

Fig. 10 Data types exchanged with the Duckiematrix by the virtual drivers.

The interfaces are developed using the Python SDK, detailed in Python SDK.