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 Melodic, Noetic and ROS2 Foxy) 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(一个提供科学计算功能的网络互动计算环境)紧密结合是有好处的。我们为Conda提供了新的ROS软件包,使ROS能够与数据科学和机器学习软件包一起轻松地安装。多种ROS版本(目前为Molodic、Novic和ROS2 Foxy)可以在一台机器上同时运行,预先编译的二进器可供Linux、Windows和OSX使用,以及ARM架构(例如Raspberry Pi和新的苹果硅)使用。为了应对ROS生态系统的庞大规模,我们大大改进了C++(我们通过重写数据科学和机器学习软件的关键部分来建立系统),我们进一步为ROS收集了JupyterLab扩展,包括现场绘图、调试和机器人控制插件,以及与Zethus(一个像可视化工具的RViz)紧密结合。为了一起, RoboSackStack(同时)将最佳的机器人和现代研究者与世界的解决方案的解决方案结合起来,以建立最佳的研究所和现代的解决方案,共同建立世界的研究所和研究所的解决方案,以建立最佳的研发的解决方案,以便联合起来建立。