Duckietown Fall 2025 - Final Project - Control

We aim to do map-free lane following in this project. We plan to use a Pure Pursuit controller to achieve this.

Running this thing

I assume you have a duckiebot setup, know how to start a virtual duckiebot, and know your way around the duckiematrix.

This repo follows the template-ros provided by Duckietown. If the requirements listed above are complete, you should be able to build the image specified by this repo and run things on your duckiebot (virtual or not).

The steps assumes a virtual duckiebot called vbot running. Change this to your duckiebot name please.

Follow these steps:

# create the virtual bot
dts duckiebot virtual create --type duckiebot --configuration DB21J vbot
dts duckiebot virtual start vbot

# update
dts update
dts desktop update
dts duckiebot update vbot

git clone git@github.com:kumaradityag/fp-control

You will need 4 terminals to view everything needed. In all terminals:

cd fp-control

Then in terminal 1, launch the duckiematrix. There are two map options within this repo - straight and loop:

# Check if the duckiebot is active
dts fleet discover
dts matrix run --standalone --map ./assets/duckiematrix/map/straight/

In terminal 2:

dts matrix attach vbot map_0/vehicle_0
dts devel build -H vbot -f
dts devel run -H vbot -L lane-following

In terminal 3:

dts gui vbot
# Wait for the entrypoint - inside it run:
rqt_image_view

In terminal 4:

ssh duckie@vbot.local
# After logging into your duckiebot:
docker exec -it ros-interface bash

Terminal 4 will allow you to check what is happening with ROS on your duckiebot. For example you'll be able to run commands like:

rostopic list

Tips

To change default.yaml parameters without re-building the code onto the bot, use the following in the 4th terminal:

rosparam list | grep <PARAM>
rosparam get <PARAM_NODE>
rosparam set <PARAM_NODE> <VALUE>

Troubleshooting

I can't see anything when I do rqt_image_view

• go to <robotname>.local => Login => Portainer
• restart robot with dts duckiebot virtual restart vbot

Current Progress

@kumaradityag: I have written a node to compute a basic trajectory and publish it to /vbot/trajectory_planner_node/trajectory. A debug image should also be published with the trajectory in red. The debug image topic is /vbot/trajectory_planner_node/debug/trajectory_image/compressed. Use rqt_image_view to view it. The trajectory is not great now. Working on fixing it :)

@yukikongju: I have started writting the pure pursuit package in the branch feature/pure_pursuit. Pure Pursuit is not implemented yet, but working on it:)