MIT小黄鸭智能车课程（适用于中小学和大学的机器人教学方案）

最新推荐文章于 2025-06-07 12:07:34 发布

原创最新推荐文章于 2025-06-07 12:07:34 发布 · 4.5k 阅读

9 ·

CC 4.0 BY-SA版权

文章标签：

#MIT #ETH #ROS #Robotics #Duckietown

本课程介绍MIT的小黄鸭无人车(Duckietown)项目，该项目旨在提供机器人教育和普及。通过使用ROS、Gazebo及Python等工具，参与者能够搭建并控制虚拟环境中的无人车。此外还提供了详细的安装指南和仿真演示。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

MIT小黄鸭无人车（Duckietown is a robotics educations and outreach effort.）

课程官网如下，点击图片可直接进入（旧版链接：http://duckietown.mit.edu/）：

英文：http://duckietown.org/

中文：http://www.duckietown.cn/

----重要资料----必备基础ROS+Gazebo+Python等。

github：https://github.com/duckietown/

如果没有实物可以尝试gazebo仿真，效果如下：

----

Duckietown Environment and Duckiebot in gazebo

With this folder, you can run duckietown environment and control robot with gazebo.

Install Depencencies

Requirements:

Python 2
ROS Kinetic
Gazebo 7 (not Gazebo 8!)

NOTE: To build successfully, maybe you need to install a lot ros packages. Based on the error message, use sudo apt-get install ros-kinetic-packagename.

TODO: complete the list of depencencies to install.

sudo apt-get install \
ros-kinetic-xacro

# Python packages
pip install \
catkin_pkg \
catkin-tools \
defusedxml \
pyzmq \
rospkg \
pygazebo==3.0.0-2014.1

Build and run duckietown environment with a duckiebot

source /opt/ros/kinetic/setup.bash
cd simulator
catkin build
source devel/setup.bash
cd src/duckietown_gazebo
source env_gazebo.sh
cd ..
./run_gazebo.sh

You will see a Duckiebot in Duckietown now.

In gazebo, shortcut "Ctrl+T" can call out "Gazebo: Topic Selector" window. Then click topic /gazebo/default/mybot/chassis/camera1/imageunder gazebo.msgs.ImageStamped, a camera window of dockiebot will show up.

You can also control robot through publish messege to topic with command rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 0.2 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.1" or ./run_cmd

----课程详细介绍，英文原文：