Execution

Build simulatorwrapper image

Run command

dts devel build -f

Start docker containers

Run command docker-compose up from the directory where the file docker-compose.yaml resides.

Monitor and publish rostopic

Run command

dts start_gui_tools fakebot

or

docker run -it --net host duckietown/dt-ros-commons:daffy-amd64 /bin/bash

To monitor image publisher, run command rqt_image_view and select topic /fakebot/camera_node/image/compressed .

// Doesn't seem to be working To change wheel velocity, run command rostopic pub /fakebot/wheels_driver_node/wheels_cmd /fakebot/kinematics_node 'auto','X','Y'. Replace X and Y with desired velocity of left and right wheel, respectively.