一个RoboStack演示：使用机器人操作系统以及Conda和Quixyter数据科学生态系统
A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems
摘要：
我们认为，它是有益的，紧密耦合广泛使用的机器人操作系统与Conda，跨平台，语言无关的包管理器，和基于Web的交互式计算环境，提供科学计算。我们为Conda提供了新的ROS包，使其能够轻松地与数据科学和机器学习包一起安装。多个ROS版本（目前是ROS1 Melodic和Noetic，以及ROS2 Foxy和Galactic）可以在一台机器上同时运行，并提供用于Linux，Windows和OSX以及ARM架构（例如Raspberry Pi和新的Apple Silicon）的预编译二进制文件。为了应对ROS生态系统的庞大规模，我们通过用C++重写关键部分，显著提高了Conda求解器和构建系统的速度。我们进一步贡献了一系列用于ROS的扩展，包括用于实时绘图，调试和机器人控制的插件，以及与Zethus（一个类似RViz的可视化工具）的紧密集成。总的来说，RoboStack结合了数据科学和机器人领域的最佳技术，帮助研究人员和开发人员为他们的学术和工业项目构建定制解决方案。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
