Exercise 2 - Kinematics and Odometry

Date Posted: Oct 8

Date Due: Oct 16

Setup - Switching to `ente`

For this exercise (and from now on) we are going to use the ente version of everything (previously we were using the daffy version).

What is needed?

Switch your duckietown shell commands to the ente version:

Unfortunately there are a few steps needed for this it turns out:

Then you need to revert to an older version of the shell

> pip3 install --no-cache-dir --user -U duckietown-shell==6.0.0
> dts profile new

Choose ente.

Now you will be asked for a dt2 token (reminder: you can generate one on duckietown.org

Then you can go ahead and reinstall the latest version of the shell.

> pip3 install --no-cache-dir --user -U duckietown-shell

Make sure your shell is up to date:

> dts update

Make sure your laptop is up to date:

> dts desktop update

Update your robot to ente:

First annoying thing you need to do is (because of some small bug we can’t figure out):

> docker -H ROBOT_NAME.local stop portainer
> docker -H ROBOT_NAME.local rm portainer

Then go ahead and do:

> dts duckiebot update ![ROBOT_NAME]

Note this can take some time and does have to download some images so it’s good to be in a reliable network.

After you’ve done this make sure that you can still move the motors by doing:

> dts duckiebot keyboard_control [ROBOT_NAME]

Fork the lx-kinematics-odometry repo and clone it to your computer and then follow the instructions in the README.

Final Deliverables:

A screenshot of your trajectory from RViz after doing one loop in the Duckiematrix (2pts)
A screenshot of your trajectory from RViz after doing one loop in the Lab (2pts)