The package consists msg and srv files and simulator programs for the workshop
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
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 **.
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
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