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CarND Term1 Starter Kit (WIP, but works pretty well)

Software for Term 1 of the Udacity Self-Driving Car Engineer Nanodegree.

Python 3 is used for entirety of the nanodegree.

There are two ways to get up and running:

  1. Docker
  2. Anaconda Environment


Using Docker to run your code consists of the following:

  1. Install Docker on your computer
  2. Pull the precompiled Docker image from Docker Hub
  3. Run the image as a new container

You may also wish to run a [python module][doc/] or [ipython][doc/].

Install Docker On Your Computer

Instructions for installation very by operating system and version.

OS Specific instructions can be found below:

Recommended Shell:

OS Docker System Shell Access Jupyter at
Linux Docker for Linux bash localhost:8888
MacOS >= 10.10.3 (Yosemite) Docker for Mac bash localhost:8888
MacOS >= 10.8 (Mountain Lion) Docker Toolbox for Max Docker Quickstart Terminal #DOCKERIP:8888
Windows 10 Pro, Enterprise, or Education Docker for Windows Windows PowerShell localhost:8888
Windows 7, 8, 8.1, or 10 Home Docker Toolbox for Windows Docker Quickstart Terminal #DOCKERIP:8888

Pull the Precompiled Docker Image from Docker Hub

A precompiled image with all dependencies required for the first term is
available on Docker Hub.

Once you have docker working, pull the image using the following command:

docker pull udacity/carnd-term1-starter-kit

Run The Image as a New Container

In your shell, navigate to the directory of a project, e.g.

$ cd ~/src/CarND-LaneLines-P1

From within this directory, you are going to run a Jupyter server. In order
to do this you must attach to the correct port and share a local volume.

The easiest way to share a local volume is via the pwd command, a shell
command that prints the working directory. This command will be used
differently based on your shell.

If you're using Windows PowerShell:

docker run -it --rm -p 8888:8888 -v ${pwd}:/src udacity/carnd-term1-starer-kit

If you're using bash or Docker Quickstart Terminal:

docker run -it --rm -p 8888:8888 -v `pwd`:/src udacity/carnd-term1-starer-kit

Let's break this down.

docker run is the command a startup and run a Docker container.

-it forces the container to run in the foreground (interactive mode) and
provides an I/O to the container.

--rm removes the container once it stops running.
It prevents the buildup of stale containers once you stop them from running.

-p 8888:8888 maps port 8888 on our local machine to port 8888 in the Docker
container, this allows us to access port 8888 in the container
by visiting localhost:8888.

-v ${pwd}:/src mounts the pwd (present working directory) to the /src
directory in the container. Basically, this let's us access files
from our local machine on the docker container.

udacity/carnd-term1-starer-kit is the name of the container to run.

To learn more about Docker visit the docs.

GPU support

The current image does not support GPU use. An image with GPU support is in the works.


Install miniconda on your machine.

Next, setup the CarND term 1 environment.

To install:

git clone
cd CarND-Term1-Starter-Kit
conda env create -f=environment.yml

To use:

source activate carnd-term1 # enter the environment
source deactivate # exit the environment

To cleanup downloaded libraries (remove tarballs, zip files, etc):

conda clean -tp

To uninstall the environment:

conda env remove -n carnd-term1

Install Tensorflow for GPU

The current setup only installs the CPU version of TensorFlow. If you wish to use the GPU version follow the instructions here.

Docker Pull Command