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https://github.com/RoboStack/jupyter-ros

Jupyter widget helpers for ROS, the Robot Operating System
https://github.com/RoboStack/jupyter-ros

jupyter python ros

Last synced: 3 months ago
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Jupyter widget helpers for ROS, the Robot Operating System

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README 

        
# ROS Support for jupyter notebooks



While the Jupyter ecosystem has been widely adopted by

the Data Science and Machine Learning community, the

robotics community has not jumped on the band wagon yet!

Most tools around ROS, the Robot Operating System, are

built using Python and QT.



However, using QT separates the user away from the code.

We've built a set of ROS tools for jupyter

notebook, trying to promote a rich, interactive experience

for Robotics developers utilizing the power of the jupyter

notebook.



[![Video of jupyter-ros in JupyterLab](https://raw.githubusercontent.com/wolfv/jupyter-ros/master/docs/assets/jupyterlab-with-ros.gif)](https://www.youtube.com/watch?v=mPvYZango2E)



![](https://raw.githubusercontent.com/wolfv/jupyter-ros/master/docs/assets/screenshot.png)



With jupyter-ros, it's possible to easily create widgets for

custom message types to send messages.



If you find this package useful, don't hesitate to

contribute!

You can also always reach out to [email protected] or

on twitter: https://twitter.com/wuoulf, or join us on [Gitter](https://gitter.im/RoboStack/Lobby)



## Installation and Dependencies



You need a ROS environment with rospy. We recommend using [Robostack](https://github.com/RoboStack/ros-noetic) (follow their installation instructions) which allows you to install ROS in a conda environment.

Also required are `numpy` and `bqplot` for the live-plotting, 

`ipywidgets` for the interactive widgets, and `ipycanvas` for the Turtlesim animations.



    conda install jupyter bqplot pyyaml ipywidgets ipycanvas



`pyyaml` is necessary for rospy.



To install use conda or mamba:



    conda install jupyter-ros -c robostack



##### Development installation

You can create a dev environment with:

```bash

conda create -n jupyros -c conda-forge python nodejs=14 jupyterlab=3 jupyter bqplot pyyaml ipywidgets ipycanvas

```



For a development installation (requires npm),



    git clone https://github.com/RoboStack/jupyter-ros.git

    cd jupyter-ros

    pip install -e .

    jupyter nbextension install --py --symlink --sys-prefix jupyros

    jupyter nbextension enable --py --sys-prefix jupyros



To update the `defaults.js` javascript you need to run `python jupyros/ros3d.py`.



## Troubleshooting



You might see a warning like "The rospy package is not found in your $PYTHONPATH.

Subscribe and publish are not going to work. Do you need to activate your ROS environment?"



This is harmless during installation, but if you see this warning in a notebook, you should check that your ROS environment is activated. You can also set the path from inside the notebook using



```

import sys

sys.path.append('/opt/ros/melodic/lib/python2.7/dist-packages/')



# The next line should now work!

import jupyros

```



If you got the following error when you run a cell ```failed to display Jupyter Widget of type VBox```,

you can solve it by running the following command ```jupyter nbextension enable --py --sys-prefix widgetsnbextension```



## License



We use a shared copyright model that enables all contributors to maintain the copyright on their contributions.



This software is licensed under the BSD-3-Clause license. See the LICENSE file for details.