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The Donkeycar framework provides a command-line tool called donkey to help you manage your autonomous vehicle projects. This CLI tool offers commands for creating new car projects, calibrating hardware, training models, and analyzing data.

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Installation

The donkey command is automatically available after installing Donkeycar: 
pip install donkeycar[pc]

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Usage

The general syntax for the donkey command is: 
donkey <command> [options]

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Available Commands

The Donkeycar CLI provides the following commands:
CommandDescription
createcarCreate a new car application with folder structure and templates
findcarFind your car’s IP address on the network
calibrateCalibrate steering servo and throttle ESC
trainTrain a neural network model from recorded data
makemovieCreate a video from recorded tub data
tubplotPlot model predictions against actual data
tubhistGenerate histograms of tub data
uiLaunch the graphical user interface
createjsCreate joystick/controller configuration
cnnactivationsVisualize CNN layer activations
modelsDisplay model database information
updateUpdate car templates to latest version

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Getting Help

To see the list of available commands: 
donkey
To get help for a specific command: 
donkey <command> --help

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Common Workflows

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Setting Up a New Car

  1. Create a new car project: 
    donkey createcar --path ~/mycar
  2. Calibrate the servos: 
    cd ~/mycar
donkey calibrate --channel 0
  3. Drive and collect data, then train a model: 
    donkey train --tub ./data --model ./models/pilot.h5

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Analyzing Data

  1. View data distribution: 
    donkey tubhist --tub ./data/tub_1_20-01-01
  2. Plot model predictions: 
    donkey tubplot --tub ./data/tub_1_20-01-01 --model ./models/pilot.h5
  3. Create a video: 
    donkey makemovie --tub ./data/tub_1_20-01-01 --out drive_video.mp4

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Configuration

Many commands accept a --config option to specify a custom configuration file: 
donkey train --config ./custom_config.py --tub ./data
The default configuration file is config.py in the current directory.

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Next Steps

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