{"id":9967,"date":"2021-03-04T18:22:49","date_gmt":"2021-03-04T10:22:49","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=9967"},"modified":"2022-08-26T15:59:51","modified_gmt":"2022-08-26T07:59:51","slug":"duckiebot_db21m","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/","title":{"rendered":"Duckietown  \u2013 Duckiebot DB21M  \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39"},"content":{"rendered":"\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1500\" height=\"790\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/\u5de5\u4f5c\u5340\u57df-1-1.jpg\" alt=\"20210310 Duckiebot\" class=\"wp-image-10135\"\/><figcaption>20210310 Duckiebot<\/figcaption><\/figure><\/div>\n\n\n\n<figure class=\"wp-block-embed-vimeo aligncenter wp-block-embed is-type-video is-provider-vimeo wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"&amp;quot;Self-Driving Cars with Duckietown&amp;quot; MOOC Trailer sub ENG\" src=\"https:\/\/player.vimeo.com\/video\/504359427?dnt=1&amp;app_id=122963\" width=\"1140\" height=\"641\" frameborder=\"0\" allow=\"autoplay; fullscreen; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><style>\n\/* ###\u5be6\u9a57\u4e0b\u4e00\u5217### *\/\n\na:link {color:#0695e4\n;}    \/* \u8a2d\u5b9a\u5c1a\u672a\u9ede\u95b1\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\na:visited {color:#0695e4\n;} \/* \u8a2d\u5b9a\u904e\u53bb\u66fe\u7d93\u95b1\u904e\u7684\u9023\u7d50 *\/\na:hover {color:#0695e4\n;}   \/* \u8a2d\u5b9a\u6ed1\u9f20\u6e38\u6a19\u6307\u5728\u9023\u7d50\u4f4d\u7f6e\u4e0a\u7684\u6a23\u5f0f *\/\na:active {color:#0000BB;}  \/* \u8a2d\u5b9a\u4e0a\u9ede\u64ca\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\n<\/style><\/p>\n\n\n<p><!--StartFragment--><\/p>\n\n\n<p>\u82e5\u60a8\u5df2\u8b80\u5b8c\u672c\u7bc7\u60f3\u8981\u4e86\u89e3\u66f4\u591a\u672c\u6b21 Duckietown \u7cfb\u5217\u7684\u64cd\u4f5c\uff0c\u8acb\u53c3\u8003 :<\/p>\n\n\n\n<ul><li><a rel=\"noreferrer noopener\" aria-label=\"Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00) (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/\" target=\"_blank\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)<\/a><\/li><li><a rel=\"noreferrer noopener\" aria-label=\"Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e8c) \u2013 differential drive configuration\u7684\u4f7f\u7528 (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/05\/19\/duckietown-duckiebot-db21m-part2\/\" target=\"_blank\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e8c) \u2013 differential drive configuration\u7684\u4f7f\u7528<\/a><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u524d\u8a00<\/h2>\n\n\n\n<p><a rel=\"noreferrer noopener\" aria-label=\"Duckietown (opens in a new tab)\" href=\"https:\/\/www.duckietown.org\/\" target=\"_blank\">Duckietown<\/a> \u5c08\u6848\u662f\u4e00\u500b\u7531\u9ebb\u7701\u7406\u5de5\u5b78\u9662( MIT )\u65bc 2016 \u5e74\u958b\u59cb\u555f\u52d5\u7684\u8ab2\u7a0b\u5c08\u6848\uff0c\u65e8\u5728\u8b93\u5b78\u751f\u5b78\u7fd2\u81ea\u52d5\u99d5\u99db\u8eca\u7684\u6280\u8853\u8207\u6982\u5ff5\u3002\u900f\u904e\u9810\u5148\u5b9a\u7fa9\u597d\u7684\u9053\u8def\u8a2d\u8a08\u3001\u6a19\u8a8c\u3001\u71c8\u865f\u8207 AprilTag \u7b49\u53ef\u81ea\u884c\u64f4\u5145\u7684\u74b0\u5883\uff0c\u8b93 Duckiebot \u5728\u9810\u8a2d\u7684\u74b0\u5883\u4e2d\u9032\u884c\u5404\u9805\u81ea\u52d5\u99d5\u99db\u8eca\u4efb\u52d9\uff0c\u4f8b\u5982\uff1a\u7dda\u9053\u8ddf\u96a8\u3001\u5b9a\u4f4d\u3001\u8def\u5f91\u898f\u5283\u8207\u5c0e\u822a\u7b49\u529f\u80fd\u3002\u4eca\u5929\u6211\u5011\u8981\u4ecb\u7d39\u7684\u662f <a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.duckietown.org\/about\/duckietown-foundation\" target=\"_blank\">Duckietown<\/a> \u5c08\u6848\u4e2d\u7684\u6838\u5fc3 \u2013 Duckiebot !<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001Duckiebot DB21M<\/h2>\n\n\n\n<p>Duckiebot \u662f\u4e00\u500b\u5177\u6709\u55ae\u677f\u96fb\u8166\u3001\u4f7f\u7528Differential drive configuration\u7684\u79fb\u52d5\u5e73\u53f0 \uff0c\u5728 2016\u5e74\u9996\u6b21\u7684\u8ab2\u7a0b\u4e2d\uff0cMIT\u4f7f\u7528\u4e00\u500b\u611f\u6e2c\u5668 \u2013 \u9b5a\u773c\u93e1\u982d\uff0c\u8b93 Duckiebot \u5728\u9810\u5148\u898f\u5283\u597d\u7684\u5834\u5730\u5716\u4e2d\uff0c\u9032\u884c\u7269\u9ad4\u8fa8\u8b58\uff0c\u4ee5\u5b8c\u6210\u81ea\u52d5\u99d5\u99db\u7684\u5404\u7a2e\u529f\u80fd\u3002MIT\u4e26\u65bc 2017\u5e74\u958b\u59cb\uff0c\u5c07 Duckiebot \u7684 \u76f8\u95dc\u786c\u9ad4\u8cc7\u8a0a\uff0c\u516c\u958b\u65bc\u5168\u7403\u4f7f\u7528\uff0c\u8a72\u786c\u9ad4\u7684\u4ee3\u865f\u70ba <a rel=\"noreferrer noopener\" aria-label=\"DB17 (opens in a new tab)\" href=\"https:\/\/www.icshop.com.tw\/product-page.php?26859\" target=\"_blank\">DB17<\/a> (DuckieBot 2017)\u3002\u4e4b\u5f8c\u7684\u6bcf\u4e00\u5e74 (\u9664\u4e862020\u5e74\u56e0\u75ab\u60c5\u5f71\u97ff)\uff0cMIT \u7686\u6703\u5728 Duckiebot \u7684\u786c\u9ad4\u4e0a\u505a\u4fee\u6b63\uff0c\u4e26\u5c07\u4fee\u6b63\u5f8c\u7684 Duckiebot \u4ee5\u4ee3\u865f\u65b9\u5f0f\u4f5c\u70ba\u4e0d\u540c\u7248\u672c\u7684\u5340\u5206 (\u5982DB18\u3001DB19)\u3002\u800c\u5728 2021\u5e74\uff0cDuckiebot \u505a\u4e86\u5927\u5e45\u5ea6\u7684\u8b8a\u66f4\uff0c\u539f\u672c\u7684DB17 \u55ae\u677f\u96fb\u8166\u63a1\u7528\u7684\u662f\u300c<a rel=\"noreferrer noopener\" aria-label=\"Raspberry Pi (opens in a new tab)\" href=\"https:\/\/www.icshop.com.tw\/product_list.php?2180\" target=\"_blank\">Raspberry Pi<\/a>\u300d\u7cfb\u5217\uff0c2021\u5e74\u4ee3\u865f\u7248\u672c\u70ba <a rel=\"noreferrer noopener\" aria-label=\"DB21M\u7684 Duckiebot (opens in a new tab)\" href=\"https:\/\/get.duckietown.com\/collections\/dt-robots\/products\/duckiebot-db21-m\" target=\"_blank\">DB21M\u7684 Duckiebot<\/a>\uff0c\u55ae\u677f\u96fb\u8166\u5247\u8b8a\u66f4\u70ba\u300c<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.icshop.com.tw\/product-page.php?28177\" target=\"_blank\">Jetson nano 2GB Developer Kit<\/a> (\u4ee5\u4e0b\u7c21\u7a31\u70ba Jetson nano)\u300d\u3002<\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/1.jpg\" alt=\"20210308 Duckiebot DB21M\" class=\"wp-image-9970\" width=\"941\" height=\"941\"\/><figcaption>\u5716\u4e00   Duckiebot \u2013 DB21M \u96f6\u4ef6\u958b\u7bb1\u5716<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u5728 DB21M (\u5716\u4e00)\u4e2d\uff0c\u6700\u5927\u7684\u6539\u8b8a\u662f\u55ae\u677f\u96fb\u8166\u66f4\u63db\u70ba <a rel=\"noreferrer noopener\" aria-label=\"Jetson nano (opens in a new tab)\" href=\"https:\/\/www.icshop.com.tw\/product-page.php?28177\" target=\"_blank\">Jetson nano<\/a> \u5916\uff0c\u66f4\u8a73\u7d30\u898f\u683c\u5982\u4e0b\uff1a<br><\/p>\n\n\n\n<ul><li>Chassis:<ul><li>Differential drive configuration<br><\/li><\/ul><\/li><li>Sensors:<ul><li>Hall effect sensor wheel encoders<\/li><li>Front facing 160deg FOV camera<\/li><li>IMU<\/li><li>Front&nbsp;facing time of flight sensor<\/li><li>Various sensors for battery diagnostics<br><\/li><\/ul><\/li><li>Actuators:<ul><li>2 DC motors<\/li><li>4 Addressable RGB LEDs<br><\/li><\/ul><\/li><\/ul>\n\n\n\n<p><br> \u9019\u4e9b\u65b0\u589e\u7684\u611f\u6e2c\u5668\uff0c\u9810\u671f\u53ef\u8b93 DB21M\u7684\u904b\u52d5\u63a7\u5236\u8b8a\u5f97\u66f4\u52a0\u7cbe\u6e96\u3002\u4e0b\u9762\u6211\u5011\u5c31\u4f86\u4ecb\u7d39\u8a72\u5982\u4f55\u5efa\u7f6e DB21 M\u7684\u4f7f\u7528\u74b0\u5883\u5427\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"> \u4e09\u3001\u5e73\u53f0\u786c\u9ad4\u7d44\u88dd <\/h2>\n\n\n\n<p>MIT \u6709\u5c07\u66f4\u52a0\u8a73\u7d30\u7684<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/docs.duckietown.org\/daffy\/\" target=\"_blank\"> Duckietown \u5c08\u6848\u4f7f\u7528\u624b\u518a<\/a>\u958b\u6e90\u7d66\u5168\u7403\u4f7f\u7528\u8005\u4f7f\u7528\uff0c\u5728\u9019\u5176\u4e2d\u7684\u300c<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/docs.duckietown.org\/daffy\/opmanual_duckiebot\/opmanual_duckiebot-ready-tablet.pdf\" target=\"_blank\">The Duckiebot manual<\/a>\u300dC-3\u81f3C-6\u7ae0\u7bc0\u4e2d\uff0c\u4fbf\u6709 DB17 \u81f3 DB21M \u7684\u786c\u9ad4\u7d44\u88dd\u8aaa\u660e\u3002\u7d44\u88dd\u904e\u7a0b\u4e2d\u9700\u8981\u6ce8\u610f\u7684\u662f\uff1a<\/p>\n\n\n\n<p>\u25cf \u7dda\u8def\u7684\u63a5\u6cd5\uff1a\u4f8b\u5982 LED\u71c8\u6a21\u7d44\u7684\u8173\u4f4d\u3001OLED\u8173\u4f4d\u3001IMU\u8173\u4f4d\u7b49\uff0c\u8acb\u8207\u786c\u9ad4\u7d44\u88dd\u8aaa\u660e\u4e2d\u7684\u63a5\u7dda\u65b9\u6cd5\u4fdd\u6301\u4e00\u81f4<br>\u25cf \u8f03\u70ba\u8106\u5f31\u7684\u9023\u63a5\u7dda\uff1a DB21M \u7684\u9023\u63a5\u7dda\uff0c\u63a1\u7528 JST \u9023\u63a5\u57e0\uff0c\u5b89\u88dd\u6216\u79fb\u9664\u6642\u8acb\u4e0d\u8981\u76f4\u63a5\u62c9\u626f\u7dda\u689d\uff0c\u9632\u6b62\u7dda\u689d\u8207 JST \u9023\u63a5\u57e0\u5206\u96e2<br>\u25cf \u64f4\u5145\u96fb\u8def\u677f(\u4ee5\u4e0b\u7a31\u70ba duckiehut)\u4e0a\u8f03\u70ba\u8106\u5f31\u7684\u5404\u500b\u5f62\u5f0f\u9023\u63a5\u57e0\uff1aMicro-USB \u9023\u63a5\u57e0\u5bb9\u6613\u56e0\u5b89\u88dd\u4e0d\u7576\u800c\u7522\u751f\u640d\u58de\u7684\u9023\u63a5\u57e0\uff0c\u8acb\u5c0f\u5fc3\u5730\u5b89\u88dd<\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/2-1.jpg\" alt=\"\" class=\"wp-image-9977\" width=\"652\" height=\"489\"\/><figcaption> \u5716\u4e8c  duckiehut \u4e0a\u8f03\u70ba\u8106\u5f31\u7684\u5404\u500b\u5f62\u5f0f\u9023\u63a5\u57e0<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u5b89\u88dd\u6642\u8acb\u5c0f\u5fc3\u5730\u5b89\u88dd\u4e0a\u8ff0\u8f03\u70ba\u8106\u5f31\u7684\u5730\u65b9\uff0c\u907f\u514d\u767c\u751f\u5f8c\u7e8c DB21M \u7121\u6cd5\u64cd\u4f5c\u7684\u554f\u984c\u3002<\/p>\n\n\n\n<p>\u5c07 DB21M(\u4ee5\u4e0b\u7c21\u7a31\u70ba\u5c0f\u9d28\u8eca)\u5b89\u88dd\u5b8c\u6210\u5f8c (\u5716\u4e09)\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u9032\u5165\u5230\u4e0b\u4e00\u500b\u74b0\u7bc0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"542\" height=\"407\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/3.jpg\" alt=\"\" data-id=\"9978\" data-link=\"https:\/\/www.circuspi.com\/?attachment_id=9978\" class=\"wp-image-9978\"\/><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"547\" height=\"410\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/4.jpg\" alt=\"\" data-id=\"9979\" data-link=\"https:\/\/www.circuspi.com\/?attachment_id=9979\" class=\"wp-image-9979\"\/><\/figure><\/li><\/ul><figcaption class=\"blocks-gallery-caption\"> \u5716\u4e09  &#8211;  DB21M\u5e73\u53f0\u5b89\u88dd\u5b8c\u6210\u5916\u89c0\u5716<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"> \u56db\u3001\u8edf\u9ad4\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a <\/h2>\n\n\n\n<p>MIT \u70ba\u4e86 Duckietown \u5c08\u6848\uff0c\u8a2d\u8a08\u4e86 <a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/github.com\/duckietown\/duckietown-shell\" target=\"_blank\">duckietown-shell<\/a> \u64cd\u4f5c\u74b0\u5883\uff0c\u76ee\u524d\u5efa\u8b70\u5927\u5bb6\u4f7f\u7528 Ubuntu 20.04 \u4f5c\u696d\u7cfb\u7d71\u5b89\u88dd duckietown-shell \u64cd\u4f5c\u74b0\u5883\uff0c\u56e0\u70ba\u5728\u5f8c\u7e8c\u521d\u59cb\u5316 Micro-SD\u5361\u7684\u64cd\u4f5c\u74b0\u7bc0\u90e8\u5206\uff0c\u50c5\u652f\u63f4 Ubuntu16.04 \u7248\u672c\u4ee5\u4e0a\u7684\u4f5c\u696d\u7cfb\u7d71\u3002\u82e5\u4e0d\u6e05\u695a\u8a72\u5982\u4f55\u5b89\u88dd Ubuntu\u4f5c\u696d\u7cfb\u7d71\uff0c\u53ef\u81f3\u6b64\u4e0b\u8f09 \u300c<a href=\"https:\/\/ubuntu.com\/download\/desktop\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">Ubuntu 20.04 LTS<\/a>\u300d\u6620\u50cf\u6a94\u4e26\u53c3\u8003\u6b64\u300c<a rel=\"noreferrer noopener\" aria-label=\"\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 \u2013 ROS \u5b89\u88dd\u6559\u5b78 (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros02\/\" target=\"_blank\">\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 \u2013 ROS \u5b89\u88dd\u6559\u5b78<\/a>\u300d\u6587\u7ae0\u4e2d\u7684\u4f7f\u7528\u865b\u64ec\u6a5f\u5b89\u88dd Ubuntu \u4f5c\u696d\u7cfb\u7d71\u90e8\u5206\uff0c\u8acb\u6ce8\u610f\u786c\u789f\u7a7a\u9593\u81f3\u5c11\u8981\u6709 100G\u4ee5\u4e0a\u7684\u786c\u789f\u7a7a\u9593\uff0c\u5f8c\u7e8c\u624d\u53ef\u4ee5\u9806\u5229\u71d2\u9304 duckiebot \u6620\u50cf\u6a94\u81f3 Micro-SD \u5361\u4e2d\u3002<\/p>\n\n\n\n<p>\u5b89\u88dd\u597d Ubuntu 20.04 \u4f5c\u696d\u7cfb\u7d71\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u555f\u52d5 Ubuntu \u7cfb\u7d71\uff0c\u4e26\u6309\u4e0b\u9375\u76e4\u4e0a\u7684 \u3010ctrl\u3011+\u3010alt\u3011+\u3010T\u3011\uff0c\u5feb\u901f\u958b\u555f Terminal \u8996\u7a97\uff0c\u6e96\u5099\u5b89\u88dd duckietown-shell\u3002<\/p>\n\n\n\n<p>\u5728\u300c<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/docs.duckietown.org\/daffy\/opmanual_duckiebot\/opmanual_duckiebot-ready-tablet.pdf\" target=\"_blank\">The Duckiebot manual<\/a>\u300d\u7684 C-1 \u7ae0\u7bc0\u4e2d\uff0c\u4e5f\u6709\u8a73\u7d30\u8aaa\u660e\u5982\u4f55\u5b89\u88ddduckietown-shell \u64cd\u4f5c\u74b0\u5883\u3002<\/p>\n\n\n\n<p>\u82e5\u60a8\u4e0d\u719f\u6089ubuntu\u4f5c\u696d\u7cfb\u7d71\uff0c\u4e5f\u53ef\u5229\u7528\u5e6b\u5927\u5bb6\u6574\u7406\u597d\u7684\u5b89\u88dd <a href=\"https:\/\/github.com\/kjoelovelife\/duckietown\/tree\/master\/DB21M\/install_script\">du<\/a><a rel=\"noreferrer noopener\" aria-label=\"c (opens in a new tab)\" href=\"https:\/\/github.com\/kjoelovelife\/duckietown\/tree\/master\/DB21M\/install_script\" target=\"_blank\">c<\/a><a href=\"https:\/\/github.com\/kjoelovelife\/duckietown\/tree\/master\/DB21M\/install_script\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">kietown-shell\u8173\u672c\u6a94\u6848<\/a> (\u5716\u56db)\uff0c\u5feb\u901f\u5b89\u88ddduckietown-shell\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ git clone https:\/\/github.com\/kjoelovelife\/duckietown\n$ cd ~\/duckietown\/DB21M\/install_script &amp;&amp; source laptop_ubuntu_setting.sh<\/code><\/pre>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"813\" height=\"170\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_4-1-1.png\" alt=\"\" class=\"wp-image-11235\"\/><figcaption>\u5716\u56db \u4e0b\u8f09\u5c08\u6848\u8207\u57f7\u884c duckietown-shell \u74b0\u5883\u5883\u8a2d\u5b9a\u8173\u672c<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u5b89\u88dd\u5b8c\u6210\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u76f4\u63a5\u5728 Terminal \u8996\u7a97\u4e2d\u8f38\u5165\u6307\u4ee4 \u201cdts\u201d\uff0c\u6e2c\u8a66\u662f\u5426\u5b89\u88dd\u6210\u529f\u3002<\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_4-1-2-1.png\" alt=\"\" class=\"wp-image-11237\" width=\"813\"\/><figcaption> \u5716\u4e94 \u57f7\u884c dts \u6307\u4ee4 <\/figcaption><\/figure><\/div>\n\n\n\n<p>\u78ba\u8a8d\u5b8c\u7562\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u6309\u4e0b\u9375\u76e4\u7684 \u3010ctrl\u3011+\u3010c\u3011\u6309\u9375 (\u5716\u4e94)\uff0c\u53d6\u6d88\u57f7\u884c\u4e2d\u7684\u7a0b\u5f0f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"\u521d\u59cb\u5316 Micro-SD \u5361\">\u4e94\u3001\u521d\u59cb\u5316\u5c0f\u9d28\u8eca\u7684Micro-SD \u5361 <\/h2>\n\n\n\n<p>\u53ef\u4ee5\u6b63\u5e38\u57f7\u884c duckietown-shell \u5f8c\uff0c\u4fbf\u53ef\u4ee5\u9032\u884c\u521d\u59cb\u5316 Micro-SD\u5361\u7684\u90e8\u5206\u3002\u958b\u59cb\u521d\u59cb\u5316\u4e4b\u524d\uff0c\u8acb\u5148\u78ba\u4fdd\u7db2\u969b\u7db2\u8def\u9023\u7dda\u662f\u5426\u6b63\u5e38\u4ee5\u53ca\u786c\u789f\u7a7a\u9593\u662f\u5426\u5927\u65bc20GB\uff0c\u56e0 duckietown-shell \u6703\u81ea\u52d5\u4e0b\u8f09\u6620\u50cf\u6a94\u81f3 Ubuntu \u4f5c\u696d\u7cfb\u7d71\u3002<\/p>\n\n\n\n<p>\u5728\u300c<a href=\"https:\/\/docs.duckietown.org\/daffy\/opmanual_duckiebot\/opmanual_duckiebot-ready-tablet.pdf\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">The Duckiebot manual<\/a>\u300d\u7684 C-8 \u7ae0\u7bc0\u4e2d\uff0c\u6709\u8a73\u7d30\u7684\u8aaa\u660e\u8a72\u5982\u4f55\u521d\u59cb\u5316 Micro-SD \u5361\u3002<\/p>\n\n\n\n<p>\u82e5\u60a8\u4e0d\u719f\u6089 Ubuntu \u4f5c\u696d\u7cfb\u7d71\uff0c\u4e5f\u53ef\u4ee5\u4f7f\u7528\u5e6b\u5927\u5bb6\u6574\u7406\u597d\u7684<a href=\"https:\/\/github.com\/kjoelovelife\/duckietown\/blob\/master\/DB21M\/install_script\/ubuntu1804_duckiebot_SD_card_initialization.sh\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">\u521d\u59cb\u5316 Micro-SD\u5361\u8173\u672c\u6a94\u6848<\/a> (\u5716\u516d)\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ cd ~\/duckietown\/DB21M\/install_script &amp;&amp; source duckiebot_SD_card_initialization.sh<\/code><\/pre>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_5-1-1.png\" alt=\"\" class=\"wp-image-11238\" width=\"813\"\/><figcaption> \u5716\u516d   \u57f7\u884c\u521d\u59cb\u5316 Micro-SD\u5361\u8173\u672c\u6a94\u6848 <\/figcaption><\/figure><\/div>\n\n\n\n<p>\u57f7\u884c\u5b8c\u7562\u5f8c\uff0c\u5c07\u6703\u51fa\u73fe\u4e0b\u5217\u7684\u554f\u984c\u9078\u9805\uff0c\u6839\u64da\u81ea\u5df1\u7684\u9700\u6c42\u56de\u7b54\u5373\u53ef(\u5716\u4e03)\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u6ce8\u610f\u7684\u662f:<\/p>\n\n\n\n<p> \u25cf  Duckiebot \u2013 \u5c0f\u9d28\u8eca\u76ee\u524d\u9810\u8a2d\u7684\u4f7f\u7528\u8005\u540d\u7a31\u8207\u5bc6\u78bc\u5c1a\u4e0d\u80fd\u4fee\u6539<br> \u25cf  Hostname \u70ba\u5fc5\u8981\u9078\u9805\uff0c\u8acb\u81ea\u884c\u8f38\u5165\u60f3\u8981\u7684 Hostname<br> \u25cf  Wi-Fi \u8207 SSID \u7684\u8a2d\u5b9a\u4e4b\u5f8c\u53ef\u518d\u66f4\u6539<br> \u25cf  \u570b\u5bb6\u7684\u8a2d\u5b9a\u4e4b\u5f8c\u53ef\u518d\u66f4\u6539 <br> \u25cf  \u9078\u64c7 \u201ctype\u201d \u7684\u6642\u5019\uff0c\u8acb\u9078\u64c7 \u201cduckiebot&#8221;<br> \u25cf  \u9078\u64c7 \u201dconfiguration\u201d\u7684\u6642\u5019\uff0c\u8acb\u9078\u64c7 \u201cDB21M\u201d<\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_5-1-2.png\" alt=\"\" class=\"wp-image-11239\" width=\"813\"\/><figcaption> \u5716\u4e03   \u521d\u59cb\u5316 Micro-SD\u5361\u6642\u9078\u64c7\u76f8\u5c0d\u61c9\u7684\u9078\u9805 <\/figcaption><\/figure><\/div>\n\n\n\n<p>\u6700\u5f8c\u9084\u6709\u4e00\u500b\u9078\u64c7\uff0c\u662f\u6620\u50cf\u6a94\u9700\u8981\u71d2\u9304\u7684\u4f4d\u7f6e\uff0c\u8acb\u5728\u5217\u8868\u4e2d\u9078\u64c7\u6b63\u78ba\u7684\u71d2\u9304\u4f4d\u7f6e\u3002\u4ee5\u672c\u6b21\u6559\u5b78\u7bc4\u4f8b\u7684\u5716\u516b\u70ba\u4f8b\uff0c\u56e0\u70ba\u8981\u71d2\u9304\u7684<a rel=\"noreferrer noopener\" aria-label=\"\u8a18\u61b6\u5361 (opens in a new tab)\" href=\"https:\/\/www.icshop.com.tw\/product-page.php?25407\" target=\"_blank\">\u8a18\u61b6\u5361<\/a>\u662f\u5177\u6709 32GB\u7684\u5132\u5b58\u7a7a\u9593\uff0c\u5c0d\u7167\u5716\u516b\u7684\u5217\u8868\u5f8c\uff0c\u53ef\u767c\u73fe \u201csdb\u201d\u88dd\u7f6e\u7684\u5132\u5b58\u7a7a\u9593\u70ba 29G\uff0c \u662f\u6700\u63a5\u8fd1 32GB \u7684\u8a18\u61b6\u5361\u5132\u5b58\u7a7a\u9593\u5927\u5c0f\uff0c\u56e0\u6b64\u4fbf\u9078\u64c7\u300csdb\u300d(\u5716\u516b)\u3002 <\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_5-1-3-1.png\" alt=\"\" class=\"wp-image-11241\" width=\"813\"\/><figcaption> \u5716\u516b   \u521d\u59cb\u5316 Micro-SD\u5361\u6642\u9078\u64c7\u71d2\u9304\u6620\u50cf\u6a94\u7684\u5132\u5b58\u88dd\u7f6e <\/figcaption><\/figure><\/div>\n\n\n\n<p>\u7576\u6240\u6709\u9078\u9805\u78ba\u8a8d\u5b8c\u6210\u5f8c\uff0c\u6703\u5217\u51fa\u76ee\u524d\u6240\u9078\u64c7\u9805\u76ee\u7684\u76f8\u95dc\u8cc7\u8a0a\uff0c\u8acb\u8a18\u9304\u4e0b\u76f8\u95dc\u8cc7\u8a0a(\u5716\u4e5d)\uff0c\u4f5c\u70ba\u65e5\u5f8c\u4f7f\u7528\u5c0f\u9d28\u8eca\u7684\u53c3\u8003\u4f9d\u64da\u3002<\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_5-1-4.png\" alt=\"\" class=\"wp-image-11242\" width=\"813\"\/><figcaption> \u5716\u4e5d   \u521d\u59cb\u5316 Micro-SD\u5361\u6642\u9078\u64c7\u9805\u76ee\u7684\u76f8\u95dc\u8cc7\u8a0a\u5217\u8868 <\/figcaption><\/figure><\/div>\n\n\n\n<p>\u6700\u5f8c\u7684\u6b65\u9a5f\u4e86\uff0c\u56e0\u70ba\u4f7f\u7528\u5230 Jetson nano \u7684\u6620\u50cf\u6a94\uff0c\u56e0\u6b64\u6703\u6709\u4e00\u4e9b\u76f8\u95dc\u7684\u898f\u7bc4 duckietown-shell \u5e0c\u671b\u60a8\u53ef\u4ee5\u8a73\u7d30\u95b1\u8b80\u3002\u82e5\u662f\u5df2\u95b1\u8b80\u5b8c\u6210\uff0c\u53ef\u8f38\u5165 &#8221; y &#8221; \u78ba\u8a8d<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_5-1-5.png\" alt=\"\" class=\"wp-image-11243\" width=\"813\"\/><figcaption>\u5716\u5341 \u8a73\u7d30\u898f\u7bc4\u95b1\u8b80\u5b8c\u6210\u5f8c\uff0c\u8f38\u5165 &#8221; y &#8220;\u78ba\u8a8d<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u6700\u5f8c\uff0cduckietwon-shell \u4fbf\u6703\u958b\u59cb\u4e0b\u8f09\u5c0f\u9d28\u8eca\u7684\u6620\u50cf\u6a94\uff0c \u4e26\u5c07\u6620\u50cf\u6a94\u71d2\u9304\u3001\u9a57\u8b49\u8207\u8a2d\u5b9a\u81f3\u6307\u5b9a\u7684 Micro-SD \u5361\u4e2d\u3002\u9019\u904e\u5927\u7d04\u6703\u662f 150\u5206\u9418\u5de6\u53f3\uff0c\u56e0\u6b64\u958b\u59cb\u71d2\u9304\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u5148\u770b\u500b <a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/\">&lt;Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)&gt;<\/a> \uff0c\u7533\u8acb duckietown \u5e33\u6236\u8207 Docker \u5e33\u6236\u5594!<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_5-1-6.png\" alt=\"\" class=\"wp-image-11244\" width=\"813\"\/><figcaption>\u5716\u5341\u4e00 duckietwon-shell \u958b\u59cb\u4e0b\u8f09\u5c0f\u9d28\u8eca\u7684\u6620\u50cf\u6a94<\/figcaption><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u6e2c\u8a66\u5c0f\u9d28\u8eca <\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u958b\u555f\u5c0f\u9d28\u8eca<\/h3>\n\n\n\n<p>\u5b8c\u6210\u521d\u59cb\u5316 Micro-SD \u5361\u7684\u6b65\u9a5f\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u5c07 Micro-SD \u5361\u653e\u5165 Jetson nano \u7684\u8a18\u61b6\u5361\u63d2\u69fd\uff0c\u653e\u5165\u524d\u8acb\u5148\u95b1\u8b80\u4e0b\u5217\u6ce8\u610f\u4e8b\u9805\uff1a<\/p>\n\n\n\n<ul><li>Micro-SD \u5361\u7684\u653e\u5165\u4f4d\u7f6e\uff0c\u8acb\u53c3\u7167\u5716\u5341\u4e8c\u6240\u6a19\u793a\u7684\u7d05\u5708\u8655 \u3002 <\/li><li>Jetson nano \u7684\u8a18\u61b6\u5361\u63d2\u69fd\u5177\u9632\u5446\u88dd\u7f6e\uff0c\u56e0\u6b64\u82e5\u662f Micro-SD \u5361\u7121\u6cd5\u9806\u5229\u653e\u5165\uff0c\u8acb\u5c07 Micro-SD \u5361\u6b63\u3001\u53cd\u9762\u53cd\u8f49\u5f8c\u518d\u8a66\u4e00\u6b21 \u3002 <\/li><li>Jetson nano \u7684\u8a18\u61b6\u5361\u63d2\u69fd\u5177\u6709\u5f48\u7c27\u5361\u69ab\uff0c\u56e0\u6b64\u5728\u653e\u5165 Micro-SD \u5361\u5f8c\uff0c\u518d\u8f15\u58d3\u4e00\u4e0b\u807d\u5230\u300c\u5580\u300d\u4e00\u8072\u5f8c\uff0c\u8868\u793a\u5df2\u9806\u5229\u653e\u5165 \u3002 <\/li><li>\u82e5\u60f3\u9000\u51fa Micro-SD \u5361\uff0c\u8acb\u518d\u6b21\u78ba\u8a8d\u5c0f\u9d28\u8eca\u8655\u65bc\u96fb\u6e90\u95dc\u9589\u72c0\u614b\u5f8c\uff0c\u4fbf\u53ef\u5728 Micro-SD \u5361\u4e0a\u8f15\u58d3\u4e00\u4e0b\uff0c\u5373\u53ef\u9806\u5229\u9000\u51fa\u3002<\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/Duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a6-1-1-1.png\" alt=\"\" class=\"wp-image-11226\" width=\"457\" height=\"343\"\/><figcaption>\u5716\u5341\u4e8c Micso-SD \u5361\u653e\u5165 Jetson nano \u8a18\u61b6\u5361\u63d2\u69fd\u4f4d\u7f6e<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u5b89\u88dd\u597d Micro-SD \u5361\u5f8c\uff0c\u518d\u5c07USB\u578b\u7121\u7dda\u7db2\u8def\u5361\u8207\u96fb\u6e90\u7dda\u9023\u63a5 Jetson nano \u8207 duckiehut \uff0c\u8acb\u7167\u8457\u4e0b\u5217\u6b65\u9a5f\u9032\u884c\uff1a<\/p>\n\n\n\n<ol><li>\u5c07 USB\u578b\u7121\u7dda\u7db2\u8def\u5361\uff0c\u653e\u5165 Jetson nano \u7684 USB \u9023\u63a5\u57e0\u3002<\/li><li>\u5c07\u96d9\u982d USB \u96fb\u6e90\u7dda\u7684 Type A \u578b\u9023\u63a5\u982d\uff0c\u653e\u5165 Jetson nano \u7684 USB \u9023\u63a5\u57e0\u3002<\/li><li>\u5c07\u96d9\u982d USB \u96fb\u6e90\u7dda\u7684 MicroUSB \u578b\u9023\u63a5\u982d\uff0c\u653e\u5165 duckiehut \u7684 4 \u865f\u9023\u63a5\u57e0(\u5982\u5716\u5341\u4e09\u6240\u793a)\u3002<\/li><li>\u5c07\u884c\u52d5\u96fb\u6e90\u7684 TypeA-MicroUSB \u578b\u9023\u63a5\u982d\uff0c\u653e\u5165 duckiehut \u7684 1\u865f\u9023\u63a5\u57e0(\u5982\u5716\u5341\u4e09\u6240\u793a) \u3002<\/li><li>\u884c\u52d5\u96fb\u6e90\u7684 MicroUSB \u5145\u96fb\u9023\u63a5\u57e0\uff0c\u6703\u4f7f\u7528\u5169\u908a\u90fd\u662f MicroUSB \u7684\u9023\u63a5\u7dda\uff0c\u8acb\u9023\u63a5\u81f3 duckiehut \u7684 2\u865f\u9023\u63a5\u57e0(\u5982\u5716\u5341\u4e09\u6240\u793a)\u3002<\/li><li>\u8acb\u6ce8\u610f\uff0c\u7576\u5c0f\u9d28\u8eca\u555f\u52d5\u5f8c\uff0c\u8acb\u52ff\u5728 3\u865f\u9023\u63a5\u57e0\u63a5\u5165\u984d\u5916\u7684 USB \u96fb\u6e90\u7dda\u5c0d\u884c\u52d5\u96fb\u6e90\u5145\u96fb\uff0c\u9019\u5c07\u6703\u9020\u6210\u5c0f\u9d28\u8eca\u4e0d\u53ef\u9810\u671f\u7684\u640d\u58de\u3002<\/li><\/ol>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/Duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_6-1-2-1.png\" alt=\"\" class=\"wp-image-11227\" width=\"457\" height=\"343\"\/><figcaption>\u5716\u5341\u4e09 \u5c07 USB\u578b\u7121\u7dda\u7db2\u8def\u5361\u8207\u96fb\u6e90\u9023\u63a5\u7dda\u653e\u5165 Jetson nano \u8207 duckiehut<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u5df2\u71d2\u9304\u597d\u5c0f\u9d28\u8eca\u6620\u50cf\u6a94\u7684 Micro-SD \u5361\u8a2d\u5b9a\u5b8c\u5168\u4e14\u96fb\u6e90\u7dda\u9023\u63a5\u6b63\u78ba\u5f8c\uff0c\u5c0f\u9d28\u8eca\u4fbf\u6703\u958b\u59cb\u555f\u52d5\u3002\u7b2c\u4e00\u6b21\u555f\u52d5\u6642\uff0c\u5c0f\u9d28\u8eca\u6703\u81ea\u52d5\u8a2d\u5b9a\u7cfb\u7d71\u7684\u76f8\u95dc\u914d\u7f6e\uff0c\u56e0\u6b64\u6703\u9700\u8981\u82b1\u4e0a\u4e00\u4e9b\u6642\u9593\uff0c\u53ef\u4ee5\u559d\u676f\u5496\u5561\u4f11\u606f\u4e00\u4e0b\uff0c\u8010\u5fc3\u7b49\u5019\u7d04 5 -10 \u5206\u9418\u3002<\/p>\n\n\n\n<p>\u6211\u5011\u53ef\u4ee5\u900f\u904e\u5c0f\u9d28\u8eca\u4e0a\u7684 OLED \u87a2\u5e55\u662f\u5426\u6709\u986f\u793a\u8cc7\u8a0a\uff0c\u4f86\u5224\u65b7\u5c0f\u9d28\u8eca\u7684\u7cfb\u7d71\u662f\u5426\u5df2\u7d93\u8a2d\u5b9a\u5b8c\u7562\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u9060\u7aef\u767b\u5165\u5c0f\u9d28\u8eca<\/h3>\n\n\n\n<p>\u555f\u52d5\u5b8c\u6210\u5f8c\uff0c\u82e5\u662f\u5c0f\u9d28\u8eca\u7db2\u8def\u74b0\u5883\u8a2d\u5b9a\u6b63\u78ba\uff0c\u5247\u53ef\u4ee5\u5c07 Ubuntu \u4f5c\u696d\u7cfb\u7d71\u9023\u7dda\u81f3\u8207\u5c0f\u9d28\u8eca\u540c\u4e00\u500b Wi-Fi \u71b1\u9ede\uff0c\u4e26\u900f\u904e SSH \u7684\u65b9\u5f0f\uff0c\u9060\u7aef\u9023\u7dda\u81f3\u5c0f\u9d28\u8eca\u3002\u9060\u7aef\u9023\u7dda\u6240\u9700\u8981\u7684\u8cc7\u8a0a\uff0c\u7686\u53ef\u5728<a href=\"#\u521d\u59cb\u5316 Micro-SD \u5361\">\u521d\u59cb\u5316 Micro-SD \u5361<\/a>\u7684\u6b65\u9a5f\u4e2d\u627e\u5c0b\uff1b\u6b64\u5916\uff0c\u82e5\u662f\u4f7f\u7528\u865b\u64ec\u6a5f\u5668\u7684\u8a71\uff0c\u8acb\u8a18\u5f97\u66f4\u6539\u7db2\u8def\u8a2d\u5b9a\u70ba\u300c<strong>\u6a4b\u63a5\u6a21\u5f0f<\/strong>\u300d\uff0c\u82e5\u662f\u4f7f\u7528 Virtualbox \u53ef\u53c3\u8003\u3010<a rel=\"noreferrer noopener\" aria-label=\"\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 \u2013 \u7406\u89e3 ROS \u6a5f\u5668\u4eba\u8a0a\u606f\u50b3\u905e\u65b9\u5f0f(\u4e0b) (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2019\/07\/02\/ros04\/\" target=\"_blank\">\u5b78\u7fd2\u8f15\u9b06\u61c9\u7528 ROS \u6a5f\u5668\u4eba\u4f5c\u696d\u7cfb\u7d71\u7684\u6280\u8853 \u2013 \u7406\u89e3 ROS \u6a5f\u5668\u4eba\u8a0a\u606f\u50b3\u905e\u65b9\u5f0f(\u4e0b)<\/a>\u300d \u8a2d\u5b9a Virtualbox\u7684\u7db2\u8def\u6a21\u5f0f(\u5716\u5341\u4e8c)\u3002<br>SSH \u7684\u9023\u7dda\u6307\u4ee4\u70ba\uff1a<span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ ssh duckie@hostname.local<\/span><\/p>\n\n\n\n<p>\u5176\u4e2d hostname \u6307\u7684\u662f\u5c0f\u9d28\u8eca\u7684\u5be6\u9ad4\u6a5f\u5668\u540d\u7a31\uff0c\u672c\u7bc7\u6587\u7ae0\u4f7f\u7528\u7684\u7bc4\u4f8b\u540d\u7a31\u70ba \u300cedu\u300d\uff0c\u5982\u5716\u5341\u56db\u6240\u793a\u3002<br>Ubuntu \u7cfb\u7d71\u4e3b\u6a5f\u82e5\u662f\u7b2c\u4e00\u6b21\u9032\u884c SSH \u7684\u9060\u7aef\u767b\u5165\uff0c\u5c07\u6703\u8a62\u554f\u60a8\u662f\u5426\u8981\u5c07\u9060\u7aef\u4e3b\u6a5f\u767b\u5165\u81f3 SSH \u7684\u7d00\u9304\u4e2d\uff0c\u8acb\u8f38\u5165 &#8221; yes &#8221; \u5373\u53ef\u3002<br>\u63a5\u8457\u6703\u518d\u8a62\u554f\u9060\u7aef\u4e3b\u74a3\u7684\u5bc6\u78bc\uff0c\u8acb\u8f38\u5165 &#8220;quackqauck&#8221; \uff0c\u8f38\u5165\u6b63\u78ba\u5f8c\u5373\u53ef\u9060\u7aef\u767b\u5165\u81f3\u5c0f\u9d28\u8eca\u3002  <\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"919\" height=\"460\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_6-2-1.png\" alt=\"\" class=\"wp-image-11259\"\/><figcaption> \u5716\u5341\u56db   \u4f7f\u7528 SSH \u9060\u7aef\u767b\u5165\u5c0f\u9d28\u8eca <\/figcaption><\/figure><\/div>\n\n\n\n<p>\u82e5\u662f\u7121\u6cd5\u900f\u904e SSH \u7684\u65b9\u5f0f\u9032\u884c\u9060\u7aef\u9023\u7dda\uff0c\u53ef\u5148\u81f3\u5c0f\u9d28\u8eca\u4e0a\u7684OLED\u78ba\u8a8d\u662f\u5426\u6709 Wi-Fi \u7684\u5716\u793a\uff0c\u82e5\u6c92\u6709\u4fbf\u4ee3\u8868 Duckiebot \u7684\u7db2\u8def\u74b0\u5883\u8a2d\u5b9a\u4e0d\u6b63\u78ba\uff0c\u7121\u6cd5\u9023\u7dda\u81f3\u6307\u5b9a\u7684 Wi-Fi\u3002\u9019\u6642\u6211\u5011\u53ef\u4ee5\u4f7f\u7528 MicroUSB \u50b3\u8f38\u7dda\uff0c\u9023\u63a5\u5c0f\u9d28\u8eca\u8207\u64cd\u4f5c\u4e3b\u6a5f\uff0c\u5176\u4e2d\u64cd\u4f5c\u4e3b\u6a5f\u7684\u7cfb\u7d71\u82e5\u662f windows 10 \u4e5f\u53ef\u4ee5\u4f7f\u7528\u5594! MicroUSB \u50b3\u8f38\u7dda\u653e\u5165\u5c0f\u9d28\u8eca\u7684\u4f4d\u7f6e\uff0c\u53ef\u53c3\u7167\u5716\u5341\u4e94\u7d05\u5708\u8655\u3002<\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_6-2-2.png\" alt=\"\" class=\"wp-image-11233\" width=\"457\" height=\"343\"\/><figcaption>\u5716\u5341\u4e94 \u5c07 MicroUSB \u50b3\u8f38\u7dda\u653e\u5165 Jetson nano<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u672c\u7bc7\u7bc4\u4f8b\u4f7f\u7528\u7cfb\u7d71win 10 \u70ba\u64cd\u4f5c\u4e3b\u6a5f\uff0c\u4ee5 MicroUSB \u50b3\u8f38\u7dda\u9023\u63a5\u81f3\u5c0f\u9d28\u8eca\uff0c\u56e0\u6b64\u7576\u9023\u63a5\u6210\u529f\u5f8c\uff0c\u7cfb\u7d71 win10 \u7684\u64cd\u4f5c\u4e3b\u6a5f\u6703\u986f\u793a\u5075\u6e2c\u5230\u65b0\u7684\u78c1\u789f\u6a5f\uff0c\u5075\u6e2c\u5230\u7684\u65b0\u78c1\u789f\u6a5f\u53ef\u53c3\u8003\u5716\u5341\u516d \u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_6-2-3.png\" alt=\"\" class=\"wp-image-11234\" width=\"457\"\/><figcaption>\u5716\u5341\u516d \u7cfb\u7d71 win10 \u64cd\u4f5c\u4e3b\u6a5f\u8207 Jetson nano \u6210\u529f\u9023\u7dda\u5f8c\u5075\u6e2c\u5230\u7684\u78c1\u789f\u6a5f<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u63a5\u8457\u958b\u555f\u7cfb\u7d71 win 10 \u7684 command \u8996\u7a97\uff0c\u958b\u555f\u65b9\u6cd5\u70ba\u5728\u4e0b\u65b9\u7684\u5de5\u5177\u5217\u4e2d\u641c\u5c0b &#8221; cmd &#8220;\uff0c\u4fbf\u53ef\u4ee5\u627e\u5230 command \u5de5\u5177\uff0c\u8acb\u9ede\u64ca\u5716\u793a\u4e26\u958b\u555f command \u8996\u7a97\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_6-2-4.png\" alt=\"\" class=\"wp-image-11247\" width=\"457\"\/><figcaption>\u5716\u5341\u4e03 \u641c\u5c0b\u4e26\u958b\u555f command \u8996\u7a97<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u958b\u555f command \u8996\u7a97\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u8f38\u5165\u6307\u4ee4\uff0c\u900f\u904e MicroUSB \u50b3\u8f38\u7dda\u4e26\u8f38\u5165\u5bc6\u78bc &#8220;quackquack&#8221;\uff0c\u9060\u7aef\u767b\u5165\u5230\u5c0f\u9d28\u8eca\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c<strong>\u5728\u8f38\u5165\u5bc6\u78bc\u6642\u4e0d\u6703\u7522\u751f\u5b57\u6a23<\/strong>!<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>c:\\> ssh duckie@192.168.55.1<\/code><\/pre>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_6-2-5-2.png\" alt=\"\" class=\"wp-image-11252\" width=\"813\"\/><figcaption>\u5716\u5341\u516b \u900f\u904e MicroUSB \u50b3\u8f38\u7dda\uff0c\u9060\u7aef\u767b\u5165\u81f3 Jetson nano<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u767b\u5165\u5b8c\u6210\u5f8c\uff0c\u53ef\u5229\u7528 vim\u6587\u5b57\u7de8\u8f2f\u5668(\u5716\u5341\u4e00)\uff0c\u4fee\u6539\u201c\/etc\/wpa_supplicant.conf\u201d\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ sudo vim \/etc\/wpa_supplicant.conf<\/code><\/pre>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/duckietown\u5c08\u6848\u74b0\u5883\u8a2d\u5b9a_6-2-6.png\" alt=\"\" class=\"wp-image-11253\" width=\"813\"\/><figcaption>  \u5716\u5341\u4e5d   \u4f7f\u7528 vim \u6587\u5b57\u7de8\u8f2f\u5668\u7de8\u8f2f <\/figcaption><\/figure><\/div>\n\n\n\n<p>\u9032\u5165\u5230\u7de8\u8f2f\u756b\u9762\u5f8c\uff0c\u76f4\u63a5\u6309\u4e0b \u3010I\u3011\u9375\uff0c\u5f85\u5de6\u4e0b\u89d2\u51fa\u73fe\u300c\u2014INSERT \u2013\u300d\u5b57\u6a23\u5f8c\uff0c\u958b\u59cb\u9032\u884c\u7de8\u8f2f\uff0c\u7db2\u8def\u8a2d\u5b9a\u7684\u683c\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p class=\"has-background has-very-light-gray-background-color\"><span style=\"background-color:#eeeeee\" class=\"tadv-background-color\">ctrl_interface=DIR=\/var\/run\/wpa_supplicant GROUP=netdev <br>update_config=1<br>country=CH<br>network= { <br>&nbsp;&nbsp;&nbsp; id_str=&#8221;network_1&#8243;<br>&nbsp;&nbsp;&nbsp; ssid=&#8221;comnet23243&#8243;<br>&nbsp;&nbsp;&nbsp; psk=&#8221;MSNDJWKE32&#8243; <br>&nbsp;&nbsp;&nbsp; key_mgmt=WPA-PSK<br>&nbsp;}<\/span><\/p>\n\n\n\n<p>\u5176\u4e2d\u6240\u4ee3\u8868\u7684\u610f\u601d\u70ba\uff1a<\/p>\n\n\n\n<p> \u25cf   Id_str\uff1a\u5c0f\u9d28\u8eca\u7684\u5c0d\u6b64\u7db2\u8def\u8a2d\u5b9a\u7684\u540d\u7a31\uff0c\u53ef\u81ea\u884c\u4fee\u6539\u3002<br> \u25cf   ssid\uff1a\u60f3\u8981\u9023\u7dda\u7684 WI-Fi \u71b1\u9ede\u540d\u7a31\u3002<br> \u25cf   psk\uff1a\u60f3\u8981\u9023\u7dda\u7684  WI-Fi \u71b1\u9ede\u5bc6\u78bc\u3002<br> \u25cf   key_mgmt\uff1a\u52a0\u5bc6\u65b9\u5f0f\uff0c\u4e00\u822c\u4e0d\u9700\u8981\u66f4\u6b64\u9078\u9805\u3002<\/p>\n\n\n\n<p>\u8b8a\u66f4\u5b8c\u6210\u5f8c\uff0c\u5148\u6309\u4e0b \u3010esc\u3011\u6309\u9375\uff0c\u518d\u8f38\u5165 \u201c:wq\u201d\u5f8c(\u5716\u5341\u4e09)\uff0c\u4fbf\u53ef\u6309\u4e0b\u3010enter\u3011\u6309\u9375\u5132\u5b58\u4e26\u96e2\u958b vim \u7de8\u8f2f\u5668\u3002<\/p>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/03\/14.jpg\" alt=\"\" class=\"wp-image-9990\" width=\"813\"\/><figcaption> \u5716\u4e8c\u5341   \u6e96\u5099\u5b58\u6a94\u4e26\u96e2\u958b vim \u7de8\u8f2f\u8996\u7a97<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u203b \u63a5\u8457\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\u91cd\u65b0\u555f\u52d5\u5c0f\u9d28\u8eca<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ sudo reboot<\/code><\/pre>\n\n\n\n<p>\u4fbf\u53ef\u4ee5\u5c07\u5c0f\u9d28\u8eca\u91cd\u65b0\u958b\u6a5f\uff0c\u7b49\u5230 OLED \u7684\u756b\u9762\u986f\u793a\u7121\u7dda\u7db2\u8def\u5df2\u9023\u63a5\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u900f\u904e Wi-Fi \uff0c\u4f7f\u7528 SSH \u9032\u884c\u9060\u7aef\u9023\u7dda\u3002<\/p>\n\n\n\n<p> \u203b  \u82e5\u662f\u60f3\u8981\u5c07\u5c0f\u9d28\u8eca\u95dc\u6a5f\uff0c\u8acb\u9060\u7aef\u767b\u5165\u5c0f\u9d28\u8eca\u5f8c\uff0c\u8f38\u5165\u4e0b\u65b9\u6307\u4ee4<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ sudo shutdown now<\/code><\/pre>\n\n\n\n<p>\u7576\u5c0f\u9d28\u8eca\u4e0a\u7684 OLED\u87a2\u5e55\u96fb\u6e90\u6307\u793a\u71c8\u95dc\u9589\u5f8c\uff0c\u4fbf\u8868\u793a Jetson nano \u5df2\u6210\u529f\u6b63\u5e38\u95dc\u6a5f\uff0c\u8acb\u518d\u5c07 duckiehut \u7684 1\u865f\u82074\u865f\u9023\u63a5\u57e0\u4e0a\u9023\u63a5\u7684 MicroUSB \u96fb\u6e90\u7dda\uff0c\u8207 Jetson nano \u4e0a\u7684 USB \u9023\u63a5\u57e0\u7684 USB \u96fb\u6e90\u7dda\u62d4\u9664\u30022\u865f\u9023\u63a5\u57e0\u7684\u96fb\u6e90\u7dda\u4e5f\u8acb\u81f3 duckiehut \u4e0a\u79fb\u9664\uff0c\u907f\u514d\u56e0\u4e0d\u5fc5\u8981\u7684\u78b0\u649e\u5c0e\u81f42\u865f\u9023\u63a5\u57e0\u7684\u8173\u4f4d\u640d\u58de\u3002<\/p>\n\n\n\n<p>\u7576\u5c0f\u9d28\u8eca\u4e0a\u7684 OLED\u87a2\u5e55\u8207\u96fb\u6e90\u6307\u793a\u71c8\u95dc\u9589\u5f8c\uff0c\u4fbf\u8868\u793a Jetson nano \u5df2\u6210\u529f\u6b63\u5e38\u95dc\u6a5f\uff0c\u8acb\u5148\u5c07 duckiehut  1\u865f\u30014\u865f\u9023\u63a5\u57e0\uff0c\u8207 Jetson nano \u4e0a\u5171\u4e09\u500bUSB \u96fb\u6e90\u7dda\u62d4\u9664\u3002\u518d\u5c072\u865f\u9023\u63a5\u57e0\u7684\u96fb\u6e90\u7dda\u79fb\u9664\uff0c\u907f\u514d\u56e0\u4e0d\u5fc5\u8981\u7684\u78b0\u649e\u5c0e\u81f42\u865f\u9023\u63a5\u57e0\u7684\u8173\u4f4d\u640d\u58de\u3002 <\/p>\n\n\n\n<p>\u4e0b\u4e00\u7bc7\u6587\u7ae0\u6211\u5011\u5c07\u6703\u958b\u59cb\u5e36\u5927\u5bb6\u9032\u884c\u5168\u65b0\u7248\u672c\u7684 Duckietown \u5c08\u6848\uff0c\u559c\u6b61\u6211\u5011\u6587\u7ae0\u7684\u5925\u4f34\u5011\uff0c\u8acb\u591a\u591a\u5206\u4eab\u4e26\u6301\u7e8c\u95dc\u6ce8\u6211\u5011\u5f8c\u7e8c\u7684\u6587\u7ae0\u5594\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Duckietown \u5c08\u6848\u662f\u4e00\u500b\u7531\u9ebb\u7701\u7406\u5de5\u5b78\u9662( MIT )\u65bc 2016 \u5e74\u958b\u59cb\u555f\u52d5\u7684\u8ab2\u7a0b\u5c08\u6848\uff0c\u65e8\u5728\u8b93\u5b78\u751f\u5b78\u7fd2\u81ea\u52d5\u99d5\u99db\u8eca\u7684\u6280\u8853\u8207\u6982\u5ff5\u3002\u4eca\u5929\u6211\u5011\u8981\u4ecb\u7d39\u7684\u5c31\u662f2021\u5e74\u6700\u65b0\u7684 Duckietown \u5c08\u6848\u4e2d\u7684\u6838\u5fc3 \u2013 Duckiebot \u2013 DB21M !<\/p>\n","protected":false},"author":1,"featured_media":10135,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[101,34,238],"tags":[179,178,118,54],"table_tags":[],"_links":{"self":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/9967"}],"collection":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/comments?post=9967"}],"version-history":[{"count":56,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/9967\/revisions"}],"predecessor-version":[{"id":11308,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/9967\/revisions\/11308"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/10135"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=9967"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=9967"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=9967"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=9967"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}