Attaching a Duckietown Robot to a Duckiematrix Entity

This chapter describes how to attach a Duckietown robot to a Duckiematrix entity.

What you will need

Completed Running the Duckiematrix.

What you will get

Knowledge on how to attach a Duckietown robot to a Duckiematrix entity.

Introduction

For a Duckietown robot to act and sense inside the Duckiematrix, it needs a proxy inside the Duckiematrix (a Duckiematrix entity) to attach to. A Duckietown robot outside the Duckiematrix is said to be attached to a Duckiematrix entity when all of its sensors and actuators are linked to their virtual counterparts inside the Duckiematrix.

To attach the Duckietown robot ROBOT_NAME to the Duckiematrix entity ENTITY_NAME (e.g., map_0/vehicle_0), run the following command, where ENGINE_HOSTNAME is the optional hostname (or IP address) of the Engine:

dts matrix attach [--engine ENGINE_HOSTNAME] ROBOT_NAME ENTITY_NAME

Note

This applies for both physical and virtual Duckietown robots.

Tip

Use the --dreamwalk option to enable dreamwalking for physical Duckiebots (i.e., commands will be sent to their physical actuators as well as their Duckiematrix counterparts).

Attention

Make sure that your computer’s firewall is set to inactive or that an allow rule has been added for ENGINE_HOSTNAME.

To show the status of your computer’s firewall, run:

sudo ufw status

To add an allow rule for ENGINE_HOSTNAME to your computer’s firewall, run:

sudo ufw allow ENGINE_HOSTNAME