We are currently in the phase of updating all the documentation for the Fall 2017 Duckietown classes; with a new Ubuntu, new Raspberry PI, new ROS, etc.; therefore we have stopped maintaining this documentation. Please see our new website for updated information.
Please sign up on our mailing list to be notified when things will be ready for prime time.

All materials should be available to everybody. If you get a permission error somewhere, please notify us, at

Basic Setup Documents

Getting Started ( static pdf): Start here your Duckietown experience.

Setup Step 0 - buy the parts ( static pdf): purchasing all of the parts to build a Duckiebot

Setup Step 0.5 - soldering boards ( static pdf): how to solder the boards for a Duckiebot

Setup Step 1 - assembling the Duckiebot ( static pdf): all the information you need on assembling a Duckiebot

Setup Step 1.1 - reproducing the Ubuntu image ( static pdf): the ubuntu image we are using on the Duckiebots

Setup Step 1.2 - traffic light assembly ( static pdf): creating a custom Duckiebot traffic light

Setup Step 1.5 - burn the image ( static pdf): burning a Duckiebot image onto an sd card

Setup Step 1.7 - setting up the Buffalo access point v2.0 ( static pdf): more information about that buffalo

Setup Step 1.8 - setting up Ubuntu laptops and the Duckietops ( static pdf): all you could ever want to know about ubuntu duckietops

Setup Step 1.9 - Github basics ( static pdf): how to commit and pull correctly

Setup Step 2.00 - from SD image to RC control ( static pdf): how to get a remote controlled Duckiebot

Setup Step 2.05 - RC control, launched remotely ( static pdf): did the remote control work? see why here!

Setup Step 2.1 - joystick + camera output in remote laptop ( static pdf): getting camera output with that remote controlled Duckiebot!

Setup Step 2.2.1 - wheel calibration ( static pdf): get the Duckiebot to drive straight

Setup Step 2.2.2 - camera calibration ( static pdf): Camera calibration setup

Setup Step 3.- take a log ( static pdf): how to take a log with ROS

Setup Step 4 - creating your own ROS package ( static pdf): making your own ROS package information

Setup Step 4.1 - integrating your new package into the architecture ( static pdf): getting your ROS package to work with Duckietown_msgs

Setup Step 5.0 - LED car setup and test ( static pdf): LEDS are awesome

Virtualbox setup ( static pdf): VirtualBox setup instructions

VMware Setup ( static pdf): VMware setup instructions

Connect to Pi and Buffalo ( static pdf): Using the Buffalo access point for wifi connection.

Getting started with The Construct simulation environment ( static pdf): We are developing a simulation environment for Duckietown.

Procedures and HOWTos

Checklist - Robot and laptop configuration ( static pdf): getting your robot and laptop configured!

Checklist - what makes a conforming ROS contribution ( static pdf): how to get ROS to work!

Documentation style guide ( static pdf): proper style guidelens for Duckietown documentation

How to reset your SD card ( static pdf): reseting your SD card information and instructions

How to test everything ( static pdf): information about testing everything.

Troubleshooting - network troubleshooting checklist ( static pdf): How to troubleshoot the network connection.

FAQ / How To ( static pdf): Frequently asked questions.

Pointers to Reference Materials for Git, ROS, etc. ( static pdf): putting it all together, git, ROS, etc.

Reflashing your SD card ( static pdf): Reflash the SD card

Source Code Management Rules and Conventions ( static pdf): Rules to make contributions coherent.

The Design of Duckietown

Appearance Specification ( static pdf): This document is about the appearance rules for a consistent Duckietown. If you build your own Duckietown: if it adheres to this rule, we guarantee that our robots will work.

Belief Representation ( static pdf): Knowledge and belief representation for the world of Duckietown.

Duckietown Traffic Code ( static pdf): General principles about the traffic rules within Duckietown.

Spring 2016: Documents Specific to MIT 2.166 Students

Accounts guide ( static pdf): This document contains instructions for how we would like you to represent yourself online during your Duckietown experience.

Lab 01 - duckiebox distribution ( static pdf): The day we opened the box.

Lab 02 - finalizing the assembly and starting RC ( static pdf): Getting remote control functionality with the Duckiebot.

Module O1 - bootcamp ( static pdf): Going to ROS work with bootcamp lab

Lab 03 - ROS tutorial ( static pdf): A slightly guided tutorial with ROS and Duckiebots.

Module 02 - remote control and data processing ( static pdf): A little more indepedence with the data processing.

Lab 04 - git and conventions ( static pdf): Missing description

Lab 05 - calibration and lane filtering ( static pdf): The Duckiebot still doesn't drive straight. What to do?

Module 03 + 04 - demo or die ( static pdf): Getting to do lane following.

Lab 06 - ( static pdf): Missing description


Duckietown: an Open, Inexpensive and Flexible Platform for Autonomy Education and Research : Manuscript submitted to the International Conference on Robotics and Automation (ICRA) 2017