ROS Package for IPython Robot Prototyping workshop at PyCon Cz 2018
The package consists msg and srv files and simulator programs for the workshop
The order of exercises
Excercices are at ipython_robot_prototyping/scripts/excercises
- Getting_Started_with_virtual_environment.ipynb -- an installation of virtual machine
- Setting_up_and_running_your_first_ROS_Node.ipynb
- ROS_concepts_explained_Topic_Service_Parameter.ipynb
- Using_IPython_Interactive_Widgets.ipynb
- Visualizing_robot_senses.ipynb
- BONUS: Tour_of_ROS_tools_with_experiments.ipynb
How to install:
We have prepared a virtual machine for the workshop, so you don't need to manually install ROS beforehand.
** However, please install and prepare VirtualBox using the instructions from Getting Started with virtual environment **.
Manual install
The commands are for those who want to run the ROS from their native environment (for example an Ubuntu 16.04 computer) **
First, you need to have your ROS basic setup, use this tutorial: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
PS. Ros and Anaconda do not cooperate very well.
We will be working using python3 so install also:
sudo apt-get install python3-rospy python3-rospkg python3-rosdep
To run the "robot simulators" offline install also
sudo apt-get install mpg123
You need to have catkin workspace set up. Next commands assume that it is in a standard place (~/catkin_ws)
clone this package to catkin_ws/src
cd ~/catkin_ws/src/ & git clone https://github.com/lidkalee/ipython_robot_prototyping
run catkin_make in the main catkin_ws directory
cd ~/catkin_ws && catkin_make
source the changes
source ~/catkin_ws/devel/setup.bash
We will be using some additional python(3) libraries, you can install them by pip
pip3 install -r requirements.txt
You need also install ipywidgets: you can use file "additional_setup.sh" (~/catkin_ws/src/ipython_robot_prototyping/additional_setup.sh) or run following command in your bash:
''' sudo jupyter nbextension enable --py --sys-prefix widgetsnbextension '''
After that, start the IPython notebook in ipython_robot_prototyping directory (~/catkin_ws/src/ipython_robot_prototyping)
cd ~/catkin_ws/src/ipython_robot_prototyping && ipython3 notebook
Jupyter notebook should open in your browser. Go to scripts -> exercises directory and open setting_up_and_running_your_first_ROS_Node.ipynb
Running locally
We have prepared "robot simulators" to use this tutorial without the access of real robots. To do so you need to run:
roslaunch ipython_robot_prototyping simulators.launch
also in your Jupyter notebooks change the ROS MASTER URI to http://localhost:11311
%env ROS_MASTER_URI=http://localhost:11311