We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based interactive computational environment affording scientific computing. We provide new ROS packages for Conda, enabling the installation of ROS alongside data-science and machine-learning packages with ease. Multiple ROS versions (currently ROS1 Melodic and Noetic, as well as ROS2 Foxy and Galactic) can run simultaneously on one machine, with pre-compiled binaries available for Linux, Windows and OSX, and the ARM architecture (e.g. the Raspberry Pi and the new Apple Silicon). To deal with the large size of the ROS ecosystem, we significantly improved the speed of the Conda solver and build system by rewriting the crucial parts in C++. We further contribute a collection of JupyterLab extensions for ROS, including plugins for live plotting, debugging and robot control, as well as tight integration with Zethus, an RViz like visualization tool. Taken together, RoboStack combines the best of the data-science and robotics worlds to help researchers and developers to build custom solutions for their academic and industrial projects.
翻译:我们认为,将广泛使用的机器人操作系统与Conda(一个跨平台、语言不可知的软件包管理员)和Jupyter(一个具有科学计算能力的网络互动计算环境)紧密结合是有益的。我们为Conda提供了新的ROS套件,使得能够轻松地在数据科学和机器学习包的同时安装ROS。多种ROS版本(目前为ROS1 Melodic和Novic,以及ROS2 Foxy和银河系统)可以在一台机器上同时运行,同时配有预先编译的二进器,供Linux、Windows和OSX以及ARM架构(例如Raspberry Pi和新的苹果硅)使用。为了应对大规模ROS生态系统,我们大大改进了ROS的速度,通过重写C++中的关键部分,我们进一步为ROS收集了JupyterLab扩展件,包括现场绘图、调试和机器人控制的插件,以及与Zethus、RViz(例如RViz)的紧密结合,例如图像和图像化世界数据解决方案和标准化和数据开发商和模型集集项目。