Duckietown

https://docs.duckietown.com
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Duckietown is an open-source robotics and AI learning platform that provides autonomous miniature...
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### Example netplan get output

Source: https://docs.duckietown.com/ente/opmanual-dd24/40-duckiedrone-handling/70-network-configuration.html

Example output of `sudo netplan get` for a Duckiedrone configured with one Wi-Fi network. The password is redacted in this example.

```yaml
network:
  version: 2
  wifis:
    wlan0:
      dhcp4: true
      optional: true
      access-points:
        "my-network":
          password: "<redacted>"

```

--------------------------------

### Example Dockerfile placeholders

Source: https://docs.duckietown.com/ente/devmanual-software/beginner/dtproject/create-project.html

Example of the Dockerfile after replacing the placeholders with actual values.

```dockerfile
ARG REPO_NAME="my-project"
ARG DESCRIPTION="My first Duckietown project"
ARG MAINTAINER="Duckie (duckie@duckietown.com)"

```

--------------------------------

### Set up local SSL certificate with dts setup mkcert

Source: https://docs.duckietown.com/ente/opmanual-dd24/50-learning-experiences/lx-general-procedure.html

Installs the NSS tools and sets up a local SSL certificate with mkcert. Required only the first time an LX is run on a new computer. If a Duckietown Workspace is used, install mkcert on the host system instead of running these commands inside the dev container.

```bash
sudo apt install libnss3-tools
dts setup mkcert

```

--------------------------------

### Build and install SD card overlay

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/06-troubleshooting/flashing-okdo-jetson-nano.html

Configures and builds the SD card device tree overlay, then copies it to /boot.

```bash
cd seeed-linux-dtoverlays
sed -i '17s#JETSON_COMPATIBLE#"nvidia,p3449-0000-b00+p3448-0002-b00"\,"nvidia\,jetson-nano"\, "nvidia\,tegra210"#' overlays/jetsonnano/jetson-sdmmc-overlay.dts
make overlays/jetsonnano/jetson-sdmmc-overlay.dtbo
sudo cp overlays/jetsonnano/jetson-sdmmc-overlay.dtbo /boot/

```

--------------------------------

### Prepare flashing environment: download and extract Jetson Nano files

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/06-troubleshooting/reflashing-jetson-nano-development-kit-4gb-duckietown.html

Run these commands once on your computer to set up the flashing environment. It creates a working directory, downloads the Jetson Nano Linux and root filesystem archives, downloads a memory patch overlay, extracts them, copies configuration and device tree files, applies binaries, and extracts the overlay into the Linux_for_Tegra directory.

```bash
mkdir -p /tmp/duckietown/jn/overlay
cd /tmp/duckietown/jn
curl -LO "https://developer.nvidia.com/downloads/embedded/l4t/r32_release_v7.6/t210/jetson-210_linux_r32.7.6_aarch64.tbz2"
curl -LO "https://developer.nvidia.com/downloads/embedded/l4t/r32_release_v7.6/t210/tegra_linux_sample-root-filesystem_r32.7.6_aarch64.tbz2"
curl -Lo overlay_32.7.5_PCN211181.tbz2 "https://drive.google.com/uc?export=download&id=1Kmocz6tPmEaepPIvwKc3bT7MpJqpwkvv"
tar -xpf jetson-210_linux_r32.7.6_aarch64.tbz2
tar -xpf tegra_linux_sample-root-filesystem_r32.7.6_aarch64.tbz2 -C Linux_for_Tegra/rootfs
tar -xpf overlay_32.7.5_PCN211181.tbz2 -C overlay
cp overlay/Linux_for_Tegra/bootloader/t210ref/BCT/P3448_A00_lpddr4_204Mhz_P987.cfg Linux_for_Tegra/bootloader/t210ref/BCT
cp -r overlay/Linux_for_Tegra/kernel/dtb/. Linux_for_Tegra/kernel/dtb
./Linux_for_Tegra/apply_binaries.sh
tar -xpf overlay_32.7.5_PCN211181.tbz2 -C Linux_for_Tegra
```

--------------------------------

### Start dt-core on Watchtowers

Source: https://docs.duckietown.com/ente/opmanual-autolab/localization.html

Starts the dt-core container on Watchtowers only. Run from your desktop/laptop. Ensure the AprilTag detector is spinning and you get detection messages in 'rostopic hz'.

```bash
dts stack up -H [HOSTNAME] core -d

```

--------------------------------

### Start interface part of agent with launchers/run_interface.sh

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/05-learning-experiences/introduction-to-duckietown-lxs.html

In interactive mode, first start the interface part of the agent when using the duckeitown_baseline image. Press ENTER after seeing ros nodes start to get the command line back.

```bash
launchers/run_interface.sh.

```

--------------------------------

### Relative link to a document

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Shows the syntax and result for a relative link to a document. The example links to a style guide page.

```markdown
[](path/to/document)

```

```markdown
Ref to [](../style/index)

```

--------------------------------

### Show help for dts init_sd_card

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/01-setup/03-duckiebot/flashing-sd-card-duckiebot-initialization-complete.html

Run this command to see a full list of options available for `init_sd_card`.

```bash
dts init_sd_card --help

```

--------------------------------

### Expected test-tf output

Source: https://docs.duckietown.com/ente/opmanual-autolab/localization.html

Example output from the test-tf command showing AprilTag detections from watchtowers. Ensure you get detections from all watchtowers.

```text
watchtower03/camera_optical_frame tag/326
watchtower03/camera_optical_frame tag/307
watchtower03/camera_optical_frame tag/326
watchtower02/camera_optical_frame tag/308
watchtower02/camera_optical_frame tag/322

```

--------------------------------

### Example of over-specifying the editor: vi /this/file

Source: https://docs.duckietown.com/ente/devmanual-docs/language/style/index.html

Shown as an example of excessive detail when instructing users to edit a file. The style guide says to simply say "edit `/this/file`" and only specify an editor when the task requires editor-specific functionality.

```text
vi /this/file

```

--------------------------------

### Install library in editable mode with python setup.py develop

Source: https://docs.duckietown.com/ente/devmanual-software/beginner/first-python-library/index.html

Installs the library in editable mode so changes to the source are immediately reflected. Run this inside the same virtual environment used for testing.

```bash
python setup.py develop 

```

--------------------------------

### Enter fw-device-hut directory

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/02-operations/01-duckiebot-handling/db21-hardware-update-hut.html

Navigate into the cloned firmware repository.

```bash
cd fw-device-hut

```

--------------------------------

### Relative link with custom text

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Shows the syntax and result for a relative link with custom text. The example links to a style guide page.

```markdown
[text](path/to/document)

```

```markdown
See [here](../style/index)
for more information.

```

--------------------------------

### Run output

Source: https://docs.duckietown.com/ente/devmanual-software/beginner/ros/create-project.html

Example output when running the project, showing the empty launch script message.

```text
...
==> Launching app...
This is an empty launch script. Update it to launch your application.
<== App terminated!

```

--------------------------------

### Quote: Example

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

An example of a blockquote.

```markdown
> this is a quote

```

--------------------------------

### Add Docker GPG key and repository

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/01-setup/02-software/docker-installation.html

Sets up the official Docker repository on Ubuntu by creating the keyrings directory, downloading and dearmoring the GPG key, and adding the Docker apt source list.

```bash
sudo mkdir -m 0755 -p /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
echo \
    "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
    "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | \
    sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

```

--------------------------------

### Successful bootloader flashing output (Ubuntu)

Source: https://docs.duckietown.com/ente/opmanual-dd24/30-duckiedrone-setup-and-config/41-flight-controller-initialization.html

Example output of a successful bootloader flash on Ubuntu, showing the same dfu-util progress and final transition to dfuMANIFEST state.

```text
jatinvira@ultron:~$ dfu-util -a 0 --dfuse-address 0x08000000:leave -d 0483:df11 -D omnibusf4sd_bl.bin
dfu-util 0.11

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2021 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to http://sourceforge.net/p/dfu-util/tickets/

dfu-util: Warning: Invalid DFU suffix signature
dfu-util: A valid DFU suffix will be required in a future dfu-util release
Opening DFU capable USB device...
Device ID 0483:df11
Device DFU version 011a
Claiming USB DFU Interface...
Setting Alternate Interface #0 ...
Determining device status...
DFU state(10) = dfuERROR, status(10) = Device's firmware is corrupt. It cannot return to run-time (non-DFU) operations
Clearing status
Determining device status...
DFU state(2) = dfuIDLE, status(0) = No error condition is present
DFU mode device DFU version 011a
Device returned transfer size 2048
DfuSe interface name: "Internal Flash  "
Downloading element to address = 0x08000000, size = 9612
Erase           [=========================] 100%         9612 bytes
Erase    done.
Download        [=========================] 100%         9612 bytes
Download done.
File downloaded successfully
Submitting leave request...
Transitioning to dfuMANIFEST state

```

--------------------------------

### Markdown image syntax and example

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Syntax and example for embedding an image with standard Markdown. The example uses an external URL.

```markdown
![alt-text](path/to/image)
```

```markdown
![](https://tinyurl.com/39ewhkab)
```

--------------------------------

### Install ARM toolchain and convert bootloader hex (macOS)

Source: https://docs.duckietown.com/ente/opmanual-dd24/30-duckiedrone-setup-and-config/41-flight-controller-initialization.html

Install the ARM bare-metal toolchain on macOS and convert the downloaded PX4 bootloader hex to a raw binary. If the PX4 dev toolchain is already installed via `brew tap PX4/px4 && brew install px4-dev`, the cask install can be skipped.

```bash
brew install --cask gcc-arm-embedded   # provides arm-none-eabi-objcopy
curl -L -o omnibusf4sd_bl.hex \
  https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex
arm-none-eabi-objcopy -I ihex -O binary omnibusf4sd_bl.hex omnibusf4sd_bl.bin

```

--------------------------------

### Install dfu-util on Linux (Ubuntu)

Source: https://docs.duckietown.com/ente/opmanual-dd24/30-duckiedrone-setup-and-config/41-flight-controller-initialization.html

Installs dfu-util via apt on Ubuntu. Run these commands in a terminal.

```bash
sudo apt update
sudo apt install dfu-util

```

--------------------------------

### numref with custom text syntax and example

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Syntax and example for numref with custom text. The example uses 'Figure %s' to include the number.

```markdown
{numref}`text %s <label>`
```

```markdown
{numref}`Figure %s <figure-example-2>`
is an example.

```

--------------------------------

### Set up local SSL certificate with dts setup mkcert

Source: https://docs.duckietown.com/ente/devmanual-lx/consume/01-duckietown-lx-environment-setup.html

Run this command to set up a local SSL certificate needed to run the LX editor inside your browser.

```bash
dts setup mkcert

```

--------------------------------

### Math directive reference syntax and example

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Syntax and example for referencing a math directive with an empty link. The example references an equation label.

```markdown
[](label)
```

```markdown
Check out equation [](eq-label).

```

--------------------------------

### Set up virtual environment and install duckietown-gym-daffy

Source: https://docs.duckietown.com/ente/devmanual-software/intermediate/simulation/index.html

Commands to create a virtual environment and install the duckietown-gym-daffy package. Run these in a terminal.

```bash
$ cd ~ && virtualenv dt-sim
$ source dt-sim/bin/activate
$ pip3 install duckietown-gym-daffy

```

--------------------------------

### Markdown link image reference syntax and example

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Syntax and example for referencing an image with a Markdown link. The example links to an image label.

```markdown
[text](label)
```

```markdown
This [image](image-example)
is an example.

```

--------------------------------

### Source ROS setup.bash for troubleshooting

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/04-software-tools/duckietown-duckiebot-additional-software-tools.html

Run this command to fix ROS commands not working and Tab autocompletion issues. This sources the catkin workspace setup file.

```bash
source /code/catkin_ws/devel/setup.bash

```

--------------------------------

### Markdown link figure reference syntax and example

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Syntax and example for referencing a figure with a Markdown link. The example links to a figure label.

```markdown
[text]<label>
```

```markdown
This [figure](figure-example-2)
is an example.

```

--------------------------------

### Install ARM toolchain and convert bootloader hex (Ubuntu)

Source: https://docs.duckietown.com/ente/opmanual-dd24/30-duckiedrone-setup-and-config/41-flight-controller-initialization.html

Install the ARM bare-metal toolchain on Ubuntu and download the prebuilt PX4 bootloader hex, then convert it to a raw binary for dfu-util.

```bash
sudo apt install binutils-arm-none-eabi   # provides arm-none-eabi-objcopy
curl -L -o omnibusf4sd_bl.hex \
  https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex
arm-none-eabi-objcopy -I ihex -O binary omnibusf4sd_bl.hex omnibusf4sd_bl.bin

```

--------------------------------

### Image directive syntax and example

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Syntax and example for the MyST image directive. The example scales the image, centers it, and assigns a name for referencing.

```markdown
```{image} ./path/to/figure.jpg
:name: label
```
```

```markdown
```{image} ../../_images/duckietown.jpeg
:scale: 20%
:align: center
:name: image-example
```
```

--------------------------------

### Install ZeroTier with curl

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/07-further-reading/protip-setting-up-remote-duckiebot-control-with-zerotier.html

Installs ZeroTier on both the computer and the Duckiebot. Run this command on each device before creating a network or joining.

```bash
curl -s https://install.zerotier.com | sudo bash

```

--------------------------------

### List hardware modules with config-by-hardware.py

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/06-troubleshooting/flashing-okdo-jetson-nano.html

Lists available hardware modules; verify that 'reComputer sdmmc' is present.

```bash
cd /boot/
sudo /opt/nvidia/jetson-io/config-by-hardware.py -l

```

--------------------------------

### Markdown table syntax and example

Source: https://docs.duckietown.com/ente/devmanual-docs/language/format/index.html

Shows the markdown table syntax with alignment and a concrete example. The example table has training and validation numbers.

```markdown
| a    | b    |
| :--- | ---: |
| c    | d    |
```

```markdown
|    Training   |   Validation   |
| :------------ | -------------: |
|        0      |        5       |
|     13720     |      2744      |
```

--------------------------------

### Install AVR build tools

Source: https://docs.duckietown.com/ente/opmanual-duckiebot/02-operations/01-duckiebot-handling/db21-hardware-update-hut.html

Install the AVR toolchain and build tools required to compile and flash the HUT firmware. Run on the Duckiebot via SSH.

```bash
sudo apt-get update
sudo apt-get install bison autoconf flex gcc-avr binutils-avr gdb-avr avr-libc avrdude build-essential

```

--------------------------------

### Example output of successful ping

Source: https://docs.duckietown.com/ente/opmanual-dd24/30-duckiedrone-setup-and-config/20-first-connection.html

Example output from a successful ping to a Duckiedrone, showing replies and statistics. This output is provided as an example of what to expect.

```bash
duckie@basestation ~ % ping amelia.local
PING amelia.local (192.168.0.81): 56 data bytes
64 bytes from 192.168.0.81: icmp_seq=0 ttl=64 time=41.965 ms
64 bytes from 192.168.0.81: icmp_seq=1 ttl=64 time=10.603 ms
64 bytes from 192.168.0.81: icmp_seq=2 ttl=64 time=10.582 ms
64 bytes from 192.168.0.81: icmp_seq=3 ttl=64 time=7.621 ms
64 bytes from 192.168.0.81: icmp_seq=4 ttl=64 time=25.420 ms
^C
--- amelia.local ping statistics ---
5 packets transmitted, 5 packets received, 0.0% packet loss
round-trip min/avg/max/stddev = 7.621/19.238/41.965/12.955 ms

```

--------------------------------

### Build the LX template with dts code build --recipe ../recipe

Source: https://docs.duckietown.com/ente/devmanual-lx/create/02-how-to-create-a-duckietown-learning-experience.html

Run this command in the <your-lx-workspace>/lx directory after creating the project to verify the template initializes properly. Always append the --recipe flag to any dts code command in the development workspace to specify your local development version of the recipe.

```bash
dts code build  --recipe ../recipe
```
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