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Typos I saw going through documentation. (#50)

* test commit

* Update

Minor word choice changes

* Update

* Change references to Duckiebot name to hostname

I think it's important to be consistent in using example names and variables.

* Change Duckiebot name and robot name to hostname

Change this example variable to be consistent within the page and with previous pages in the setup documentation.

* Change Duckiebot name and robot name to hostname.

Changes reference to robot name to be consistent. Also fix some typos/
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raabuchanan authored and AndreaCensi committed Oct 4, 2018
1 parent c11955d commit b20047194cef2ddf3e84c275b4b086532fa21bec
@@ -51,17 +51,21 @@ See: For instructions, see for example [this online tutorial][tutorial].

### Basic dependencies {#laptop-setup-ubuntu-18-basic}

Installs pip, git, git-lfs, docker, duckietown-shell:
Installs pip, git, git-lfs, curl, wget:

laptop $ sudo apt install -y python-pip git git-lfs curl wget

### Docker {#laptop-setup-ubuntu-18-docker}

Installs Docker:

laptop $ sudo apt install -y
laptop $ sudo adduser `whoami` docker

Adds user to "docker" group:

Note: you need to *log in and out* to have the group change take effect.
laptop $ sudo adduser `whoami` docker

Note: you need to *log out and in* for the group change take effect.

### Duckietown Shell {#laptop-setup-ubuntu-18-shell}
@@ -38,6 +38,8 @@ To find your token, first login to, then open the page:

> [``](
Note: It may take up to 5 minutes after first creating your account for a token to be generated.

## Tell the Duckietown Shell your token {#dt-account-set-token}

@@ -35,7 +35,7 @@ Until everything is downloaded the Portainer interface will not start.

To debug this, login to the robot:

laptop $ ssh ![Duckiebot name]
laptop $ ssh ![hostname]

and then look at the logs:

@@ -71,16 +71,16 @@ Note: It is never needed to log in to the Duckiebot via `ssh`, though that could

You can set the variable `DOCKER_HOST` to point to the Duckiebot:

laptop $ export DOCKER_HOST=![Duckiebot name].local
laptop $ export DOCKER_HOST=![hostname].local

If you do, then you may omit every instance of the switch `-H ![Duckiebot name].local`.
If you do, then you may omit every instance of the switch `-H ![hostname].local`.

### Seeing which containers are running using `docker ps`

To test the connection, run `docker ps`:

laptop $ docker -H ![Duckiebot name].local ps
laptop $ docker -H ![hostname].local ps

84b6454111fd resin/raspberrypi3-alpine-python:slim ...
@@ -105,7 +105,7 @@ Another cool alternative is `ctop`, which you can install [from here][ctop-insta

Warning: the container `duckietown/rpi-health` arrived only recently in the default config (Sep 27). If you have a previous SD card, you have to run it, using:

laptop $ docker -H ![Duckiebot name].local run --device /dev/vchiq -p 8085:8085 -d duckietown/rpi-health:master18
laptop $ docker -H ![hostname].local run --device /dev/vchiq -p 8085:8085 -d duckietown/rpi-health:master18

If some of the containers are marked as "unhealthy", fix the problem before continuing.

@@ -29,7 +29,7 @@ both for the laptop and for the Duckiebot. The procedure is documented in [](+so

Use the following command to run the container that contains `roscore`:

laptop $ docker -H ![Duckiebot name].local run -dit --privileged --name roscore --net host --restart unless-stopped duckietown/rpi-ros-kinetic-roscore:master18
laptop $ docker -H ![hostname].local run -dit --privileged --name roscore --net host --restart unless-stopped duckietown/rpi-ros-kinetic-roscore:master18

If this is the first time you run this, it might take some time to download the container.

@@ -43,7 +43,7 @@ or by using `docker ps`.

Use the following command to run the joystick demo:

laptop $ docker -H ![Duckiebot name].local run -dit --privileged --name joystick --network=host -v /data:/data duckietown/rpi-duckiebot-joystick-demo:master18
laptop $ docker -H ![hostname].local run -dit --privileged --name joystick --network=host -v /data:/data duckietown/rpi-duckiebot-joystick-demo:master18

### Controlling your robot with a joystick
@@ -57,12 +57,9 @@ keyboard control

### Controlling your robot with your keyboard

##### OSX

On your laptop run:

laptop $ dts keyboard_control ![Duckiebot name]
laptop $ dts keyboard_control ![hostname]

Note: Currently not working for Mac OSX - the window pops up but the robot won't move - this is expected for now

@@ -94,12 +91,12 @@ The following keys are supported:

Run the base image on the duckiebot:

duckiebot $ docker -H ![Duckiebot name].local run -it --net host --privileged --name base duckietown/rpi-duckiebot-base:master18 /bin/bash
duckiebot $ docker -H ![hostname].local run -it --net host --privileged --name base duckietown/rpi-duckiebot-base:master18 /bin/bash

Then when the container has started

container $ roslaunch duckietown joystick.launch veh:=![Duckiebot name]
container $ roslaunch duckietown joystick.launch veh:=![hostname]

#### Controlling your robot with a joystick
@@ -112,7 +109,7 @@ You can now use your joystick to move things around
If you have cloned the repo on your laptop and installed ROS, then you can start the keyboard controller interface with

laptop $ make virjoy-![Duckiebot name]
laptop $ make virjoy-![hostname]

## Option 3 - Pure ROS {#make-it-move_ros status=deprecated}
@@ -158,7 +155,7 @@ ssh into your robot and run:
Now on your laptop run:

laptop $ make virjoy-![Duckiebot name]
laptop $ make virjoy-![hostname]

Note: you need to have `pygame` installed, see the [README](
@@ -255,7 +252,7 @@ Don't worry though, we can still see the printouts using `rqt_console`.
On the laptop run:

laptop $ dts start_gui_tools ![Duckiebot name]
laptop $ dts start_gui_tools ![hostname]

@@ -264,7 +261,7 @@ On the laptop run:
On the laptop, open a new terminal window, and run:

laptop $ export ROS_MASTER_URI=http://![robot name].local:11311/
laptop $ export ROS_MASTER_URI=http://![hostname].local:11311/
laptop $ rqt_console

@@ -288,10 +285,10 @@ Change the "Rosout Topic" field from `/rosout_agg` to `/rosout`. Confirm.
Symptom: `roslaunch` fails with an error similar to the following:

remote[![robot name].local-0]: failed to launch on ![robot name]:
remote[![hostname].local-0]: failed to launch on ![hostname]:

Unable to establish ssh connection to [![username]@![robot name].local:22]:
Server u'![robot name].local' not found in known_hosts.
Unable to establish ssh connection to [![username]@![hostname].local:22]:
Server u'![hostname].local' not found in known_hosts.

Resolution: You have not followed the instructions that told you to add the `HostKeyAlgorithms`
@@ -26,12 +26,12 @@ and in particular that you set `DOCKER_HOST` correctly and can use `docker ps` s
Start the container `rpi-docker-python-picamera`. It reads the camera
image and writes it to `/data`.

laptop $ docker -H ![Duckiebot name].local run -d --name picam -p 8081:8081 --device /dev/vchiq duckietown/rpi-docker-python-picamera:master18
laptop $ docker -H ![hostname].local run -d --name picam -p 8081:8081 --device /dev/vchiq duckietown/rpi-docker-python-picamera:master18

Then point your browser to the address


and verify that it is the output from your camera.

@@ -50,7 +50,7 @@ Start publishing images through ROS on the Duckiebot using
the container `rpi-duckiebot-ros-picam`:

laptop $ docker -H ![Duckiebot name].local run -it --name ros-picam --network=host --device /dev/vchiq -v /data:/data duckietown/rpi-duckiebot-ros-picam:master18
laptop $ docker -H ![hostname].local run -it --name ros-picam --network=host --device /dev/vchiq -v /data:/data duckietown/rpi-duckiebot-ros-picam:master18

Note: you need `-v /data:/data` because of the calibration procedure later.

@@ -70,7 +70,7 @@ You should see of output that ends with:
Now start the GUI tools container in a different terminal:

laptop $ dts start_gui_tools ![Duckiebot name]
laptop $ dts start_gui_tools ![hostname]

The container will start. At the prompt, run:
@@ -110,7 +110,7 @@ There might be other topics if you started other demos.

You can use `rostopic hz` to see the statistics about the publishing frequency:

container $ rostopic hz /![robot name]/camera_node/image/compressed
container $ rostopic hz /![hostname]/camera_node/image/compressed

On a Raspberry Pi 3, you should see a number close to 30 Hz:

@@ -123,7 +123,7 @@ Use CTRL-C to stop `rostopic`.

You can view the messages in real time with the command `rostopic echo`:

container $ rostopic echo /![robot name]/camera_node/image/compressed
container $ rostopic echo /![hostname]/camera_node/image/compressed

You should see a large sequence of numbers being printed to your terminal.

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