Duckietown Shell is a pure Python, easily distributable (few dependencies) utility for Duckietown.

The idea is that most of the functionality is implemented as Docker containers, and dt-shell provides a nice interface for that, so that user should not type a very long docker run command line.

Note: Duckietown Shell required Python 3.6 or higher.

These installation steps make sure that you have a minimal "sane" environment, which includes:

1. Git and Git LFS;
2. Docker;
3. The Duckietown Shell.

Installs pip3, git, git-lfs:

$ sudo apt install -y python3-pip git git-lfs

Installs docker: (Also could refer to: https://docs.docker.com/install/linux/docker-ce/ubuntu/)

$ sudo apt install -y docker.io
$ sudo adduser `whoami` docker

Installs duckietown-shell:

Note: Never use sudo pip install to install duckietown-shell.

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

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

Then, typing

$ which dts

should output something like: /home/user/.local/bin/dts

As for ubuntu 16, run:

$ sudo apt install -y git git-lfs

$ sudo apt install -y docker.io
$ sudo adduser `whoami` docker

Then, the duckietown shell require python3.6 or python3.7, which is not standard on ubuntu16. A currently working workaround is to install homebrew, by following instructions here : https://docs.brew.sh/Homebrew-on-Linux Then, run :

$ brew install python3
$ python3.7 -m pip install --no-cache-dir --user -U duckietown-shell

Then, typing

$ which dts

should output : /home/linuxbrew/.linuxbrew/bin/dts

You will need to find the instructions for installing pip, git, git-lfs, docker for your specific operating system on your own.

To install the shell, use:

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

The shell itself does not require any other dependency beside standard cross-platform Python libraries.

Note: Never use sudo pip3 install to install duckietown-shell.

On Mac OSX you will have to add the path to the binary to your PATH variable. This can be done with

$ echo "export PATH=$PATH:$HOME/Library/Python/2.7/bin" >> ~/.bash_profile

and then reopen your terminal for the changes to take effect.

Assuming that Docker is already installed, place the following in your ~/.bashrc or other initialization file for a shell:

alias dts='docker run -it --rm -v /var/run/docker.sock:/var/run/docker.sock  -w $PWD -v $PWD:$PWD -v ~/.dt-shell:/root/.dt-shell -v ~/.docker:/root/.docker duckietown/duckietown-shell:v3 dts'

Some functionality might not be available.

By default Docker uses the OS X keychain to store credentials but this is not good.

Edit ~/.docker/config.json and remove all references to a "osxkeychain".

Then run docker login again.

Then you should see an auth entry of the type:

{
    "auths": {
        "https://index.docker.io/v1/": {
            "auth": "mXXXXXXXXXXXXXXXXXXXXXXXXXX"
        }
    },
}

At this point, try to enter the Duckietown shell by typing the command

$ dts

If you get an error, delete the subfolder commands in the folder ~/.dt-shell

~/.dt-shell$ rm -rf commands/

Then, try again

$ dts

You now have successfully installed the Duckietown Shell. If you know what you want to do with it go ahead. Below are some examples of things you can do with the Duckietown Shell

To compile one of the books (e.g. docs-duckumentation but there are many others):

$ git clone https://github.com/duckietown/docs-duckumentation.git
$ cd docs-duckumentation
$ git submodule init
$ git submodule update
$ dts docs build

There is an incremental build system. To clean and run from scratch:

$ dts docs clean
$ dts docs build

Run the command dts tok set to set the Duckietown authentication token:

$ dts tok set  

Instructions will guide you and you will be prompted for the token.

If you already know the token, then you can use:

$ dts tok set dt1-YOUR-TOKEN

To verify that a token is valid, you can use:

$ dts tok verify dt1-TOKEN-TO-VERIFY

This exits with 0 if the token is valid, and writes on standard output the following json:

{"uid": 3, "expiration": "2018-09-23"}

which means that the user is identified as uid 3 until the given expiration date.

This command will install DuckieOS on the SD-card:

$ dts init_sd_card

This command will start the ROS GUI container:

$ dts start_gui_tools <DUCKIEBOT_NAME_GOES_HERE>

This command will run the Duckiebot calibration procedure:

$ dts calibrate_duckiebot <DUCKIEBOT_NAME_GOES_HERE>