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Jupyter widget helpers for ROS, the Robot Operating System

Home Page: https://jupyter-ros.readthedocs.io/en/latest/

License: BSD 3-Clause "New" or "Revised" License

Python 50.84% JavaScript 19.97% Shell 0.01% Jupyter Notebook 29.18%

ros jupyter python

jupyter-ros's Introduction

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.

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

Installation and Dependencies

You need a ROS environment with rospy. We recommend using Robostack (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:

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.

jupyter-ros's People

Contributors

Stargazers

Watchers

Forkers

radovankavicky gapdata nanonid duke24k jafarabdi y1ngyang euwen kaidong123 airyzf sezan92 hemaz loyvanbeek jooooh fyzfx zhangrelay ke-zhang-rd harderthan foreverw ryan2x stevenlol shashika007 parety axjtan collector-m wh-0501 gwthompson miguelmoutela hubbucket-team songyangzhao arunkumarramanan zhouyunming y-c kelvinson cloud-robotics ilopezfr robotics-and-robots xepost ronaldponguillo timple martinrenou campusrover rapyuta-robotics wolfv vasavanthiru hainm arg-nctu 0000duck supunperera1994 rubenanapu zmk5 fmg-shehan wafajohal 1222-takeshi tshiamor a4aleem popularrobotics tags07 tangshp frankjoshua wowozange worasuch kkmonster fearro szf2020 erikvalle hbcarlos sanil-shrvn alip990 markusbuchholz tobias-fischer pratyushgehlot asnramos pythonnorte ericlong423 kamalanathann 92sara ros-robot-series heast90 chuangwang1991 messier12 javenzhu jmorets21sec isabelparedes arghyachatterjee immaturehaan dobots technisans mingtsung86 vkmb mcx ldania andor233 lbaitemple capitaneanu kurepa82 iq-scm roscn st3ff3n kwangki-kim wnsrl970219

jupyter-ros's Issues

installation issue as root inside dockerfile

Hello and thank you for this great project!
I'm trying to package it in a ROS Docker image

I have an error when installing (following the .README instructions)

Would anybody here have an idea of what might be the problem?
Thank you so much.

Step 25/41 : RUN mkdir -p ~/utilities/ && cd ~/utilities/ && git clone https://github.com/RoboStack/jupyter-ros.git && cd ~/utilities/jupyter-ros && pip3 install -e .
 ---> Running in a9e29d0dc56b
Cloning into 'jupyter-ros'...
Obtaining file:///root/utilities/jupyter-ros
    Complete output from command python setup.py egg_info:
    setup.py entered
    $PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
    running egg_info
    running jsdeps
    6.14.6
    6.14.6
    Installing build dependencies with npm.  This may take a while...
    
    > [email protected] postinstall /root/utilities/jupyter-ros/js/node_modules/uglifyjs-webpack-plugin
    > node lib/post_install.js
    
    npm WARN prepublish-on-install As of npm@5, `prepublish` scripts are deprecated.
    npm WARN prepublish-on-install Use `prepare` for build steps and `prepublishOnly` for upload-only.
    npm WARN prepublish-on-install See the deprecation note in `npm help scripts` for more information.
    npm WARN lifecycle [email protected]~prepublish: cannot run in wd [email protected] webpack (wd=/root/utilities/jupyter-ros/js)
    npm WARN [email protected] No license field.
    npm WARN optional SKIPPING OPTIONAL DEPENDENCY: [email protected] (node_modules/fsevents):
    npm WARN notsup SKIPPING OPTIONAL DEPENDENCY: Unsupported platform for [email protected]: wanted {"os":"darwin","arch":"any"} (current: {"os":"linux","arch":"x64"})
    
    added 432 packages from 380 contributors and audited 501 packages in 5.414s
    found 113 vulnerabilities (109 low, 2 moderate, 2 high)
      run `npm audit fix` to fix them, or `npm audit` for details
    rebuilding js and css failed
    missing files: ['/root/utilities/jupyter-ros/jupyros/static/extension.js', '/root/utilities/jupyter-ros/jupyros/static/index.js']
    Traceback (most recent call last):
      File "<string>", line 1, in <module>
      File "/root/utilities/jupyter-ros/setup.py", line 180, in <module>
        setup(**setup_args)
      File "/usr/local/lib/python3.6/dist-packages/setuptools/__init__.py", line 153, in setup
        return distutils.core.setup(**attrs)
      File "/usr/lib/python3.6/distutils/core.py", line 148, in setup
        dist.run_commands()
      File "/usr/lib/python3.6/distutils/dist.py", line 955, in run_commands
        self.run_command(cmd)
      File "/usr/lib/python3.6/distutils/dist.py", line 974, in run_command
        cmd_obj.run()
      File "/root/utilities/jupyter-ros/setup.py", line 45, in run
        raise e
      File "/root/utilities/jupyter-ros/setup.py", line 38, in run
        self.distribution.run_command('jsdeps')
      File "/usr/lib/python3.6/distutils/dist.py", line 974, in run_command
        cmd_obj.run()
      File "/root/utilities/jupyter-ros/setup.py", line 118, in run
        raise ValueError(msg)
    ValueError: Missing file: /root/utilities/jupyter-ros/jupyros/static/extension.js
    
    ----------------------------------------
Command "python setup.py egg_info" failed with error code 1 in /root/utilities/jupyter-ros/

unable to send goal to action-server using action_client widget

after setting up everything, you still can't use the action_client widget in jupyter. It throws key doesnt exist exceptions.

import jupyros is failing

Hi there!

Several names are unknown in the code.
It started by Unicode in file jupyros/ros3d.py
=> I explicitly import it by a from traitlets import Unicode
But then, I'm getting a:

>>> import jupyros
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/meunier/miniforge3/envs/ros_env2/lib/python3.9/site-packages/jupyros/__init__.py", line 16, in <module>
    from .ros3d import *
  File "/home/meunier/miniforge3/envs/ros_env2/lib/python3.9/site-packages/jupyros/ros3d.py", line 78, in <module>
    class TFClient(widgets.Widget):
  File "/home/meunier/miniforge3/envs/ros_env2/lib/python3.9/site-packages/jupyros/ros3d.py", line 95, in TFClient
    ros = Instance(ROSConnection).tag(**sync_widget)
NameError: name 'Instance' is not defined

I've done the standard installation of Robotstack, for ROS Noetic, followed by: mamba install jupyter-ros -c robostack
On a x86_64 macchine running Ubuntu 20.04.6 LTS

Some version info:

jupyter-ros               0.5.0              pyhd8ed1ab_0    robostack
jupyter_client            7.4.9              pyhd8ed1ab_0    conda-forge
jupyter_core              5.5.0            py39hf3d152e_0    conda-forge
jupyter_events            0.9.0              pyhd8ed1ab_0    conda-forge
jupyter_server            2.10.1             pyhd8ed1ab_0    conda-forge
jupyter_server_fileid     0.9.0              pyhd8ed1ab_0    conda-forge
jupyter_server_terminals  0.4.4              pyhd8ed1ab_1    conda-forge
jupyter_server_ydoc       0.8.0              pyhd8ed1ab_0    conda-forge
jupyter_ydoc              0.2.4              pyhd8ed1ab_0    conda-forge
jupyterlab                3.6.6              pyhd8ed1ab_0    conda-forge
jupyterlab_pygments       0.2.2              pyhd8ed1ab_0    conda-forge
jupyterlab_server         2.25.1             pyhd8ed1ab_0    conda-forge
jupyterlab_widgets        3.0.9              pyhd8ed1ab_0    conda-forge

Thanks for any help,
JL

Did anybody try to install this in Docker?

Hi all,

I tried installing jupyter-ros in docker ubunut:16.04, later in osrf/ros:kinetic-desktop-full, but it always fails with different errors.

Did anybody manage to install it on Docker?

NameError: global name 'Error' is not defined

When re-subscribing to a topic when you re-execute the cell (which you shouldn't, I know :-) ), I get this error.
I could make a PR but I'm not sure what it should be 🤷‍♂️ Maybe RuntimeError?

---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-6-a297a3eee99c> in <module>()
----> 1 jr.subscribe('/barcode', String, cb)

/home/lvb/.local/lib/python2.7/site-packages/jupyros/pubsub.pyc in subscribe(topic, msg_type, callback)
     48 
     49     if subscriber_registry.get(topic):
---> 50         raise Error("Already registerd...")
     51 
     52     out = widgets.Output(layout={'border': '1px solid gray'})

NameError: global name 'Error' is not defined

Version info:

The version of the notebook server is: 5.7.8

Python 2.7.12 (default, Nov 12 2018, 14:36:49) 
Type "copyright", "credits" or "license" for more information.

IPython 5.8.0 -- An enhanced Interactive Python.

Question: multiple nodes

Can more then one ros jupyter session be stated in different tabs one for each node? Like in a launch file.

default install raises error

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

typed in

pip install jupyter bqplot pyyaml ipywidgets
jupyter nbextension enable --py --sys-prefix ipywidgets

Results in:

KeyError: 'The Python module ipywidgets is not a valid nbextension, it is missing the `_jupyter_nbextension_paths()` method.'

Happens both on Windoze 10 install and Debian 10 install.

setup.py install

Hi, I've tried running python setup.py install --user and noticed that some paths are broken.
The path jupyros/static/... isn't in the project so python will throw an error (Lines 69-70, 135-137).
I'd love to install the most recent library (without relying on pip), so please let me know if this can be resolved or if there's a quick fix.

Thank you

Integrating camera images with ros3D

Is there a way to include images from the robot's camera in the ros3D visualisation? Is it a feature that is planned? The only way I found to do it is to use a threading to update the images from the camera inside a grid, but the results make the video feed delayed by a couple seconds (not delayed without the ros3D object). Here is the code I am using to create a user interface :

from ipywidgets import HBox, Box, Layout, GridspecLayout
from jupyros import ros3d
import ipywidgets as widgets
import threading
import time

v = ros3d.Viewer()
rc = ros3d.ROSConnection(url="ws://localhost:9090")
tf_client = ros3d.TFClient(ros=rc, fixed_frame='/map')
g = ros3d.GridModel()
laser_view = ros3d.LaserScan(topic="/scan", ros=rc, tf_client=tf_client)
map_view = ros3d.OccupancyGrid(topic="/map", ros=rc, tf_client=tf_client)
pose_view = ros3d.Pose(topic="/mobile_manip/pose", ros=rc, tf_client=tf_client)
v.objects = [laser_view, map_view, pose_view]
v.layout = Layout(border="3px solid black", width="700px", height="600px")

image = widgets.Image(
        value=cam_msg.data,
        format="png",
        height="120%",
        width="200%")

btn_up = widgets.Button(icon='arrow-up')
btn_left = widgets.Button(icon='arrow-left')
btn_down = widgets.Button(icon='arrow-down')
btn_right = widgets.Button(icon='arrow-right')
btn_stop = widgets.Button(description='Stop')

def update_plot():
    while True:
        image.value=cam_msg.data
        time.sleep(0.1)

def on_btn_up_clicked(b):
    move_robot(0.5,0)
        
def on_btn_left_clicked(b):
    move_robot(0,0.5)
        
def on_btn_down_clicked(b):
    move_robot(-0.5,0)
        
def on_btn_right_clicked(b):
    move_robot(0,-0.5)
    
def on_btn_stop_clicked(b):
    move_robot(0,0)

btn_up.on_click(on_btn_up_clicked)
btn_left.on_click(on_btn_left_clicked)
btn_down.on_click(on_btn_down_clicked)
btn_right.on_click(on_btn_right_clicked)
btn_stop.on_click(on_btn_stop_clicked)

grid = GridspecLayout(8, 8,height='600px')

grid[0:4,0:3] = image
grid[5,1] = btn_up
grid[6,0] = btn_left
grid[6,1] = btn_stop
grid[6,2] = btn_right
grid[7,1] = btn_down
grid[:,4:7] = v
thread = threading.Thread(target=update_plot)
thread.start()
grid

Is it possible to have two nodes created in one Notebook?

I am still trying to figure out the threading model of this approach.

Fields are not working in the live plotting

When I use this line to plot only the x and y values, I get x,y, and z values plotted
jr.live_plot("/my/posetopic:x:y", geometry_msgs.Pose)

It works as expected if I use
!rqt_plot /my/posetopic/x /posetopic/y

Thanks!
Mohamed

avoid ROS environment requirement via roslibpy

What's interesting is that roslibpy offers a viable route of working with ROS without having the requirement of running in a ROS environment. Those environments that work with ROS, -well basically Ubuntu linux- are quite a small subset from those environments that run python well.

I think a powerful use case of this project is having a ROS docker running somewhere, and using jupyter-ros to interface it, without having to create the actual ROS environment.

Might be worth looking into it, or to decide whether a ROS env is a requirement or not

error with "jupyter nbextension install --py --symlink --sys-prefix jupyros"

when I run "jupyter nbextension install --py --symlink --sys-prefix jupyros" , it breaks down for the following error. My environment is python 3.9 and it seems python3.x do not support the Unicode function. Hope to get some clues!!!!

 File "/jupyter-ros/jupyros/ros1/ros3d.py", line 73, in ROSConnection
    url = Unicode(os.environ.get("JUPYROS_WEBSOCKET_URL", "ws://Z9d2n4:9090")).tag(sync=True)
NameError: name 'Unicode' is not defined

failed to display Jupyter Widget of type VBox

I got this error and solved it by running the command below, it would be helpful if you add this to the documentation, to remind the users to enable the extension

jupyter nbextension enable --py --sys-prefix widgetsnbextension

Available ranges for jr.publish

I dont know how you determine the ranges for the generated ui for jr.publish. But if you are publishing Twist, the ranges are 0.0 -> I think 100 or something. It would be nice if you changed that to -10 -> +10. When the max is 100 the slider is too sensitive for normal cases.

rospy/jupyter-ros nodes - starting and stopping

When I am writing or debugging a node in Jupyter Notebook + Jupyter Ros, I often need to run the edited version. I've been restarting the kernel in Jupyter as a way to try to get it to run the edited node, but I am not sure that works or is reliable. I've also tried killing roscore and restarting it. I am not sure yet what works and what doesn't. What's the recommended way to do this?

Unable to import ros3d from jupyros

I was runing from jupyros import ros3d and get error "ImportError: cannot import name 'ros3d' from 'jupyros'"

ImportError Traceback (most recent call last)
Cell In[4], line 1
----> 1 from jupyros import ros3d
2 import rospy

ImportError: cannot import name 'ros3d' from 'jupyros' (/Users/chengtszyin/Desktop/new_ws/jupyter-ros/jupyros/init.py)

Please help. THANK YOU

is it working??? How to debug?

Well...
Don't know what to do:
I have my roscore working fine, with rviz I can see my /scan => No issues
using jupyros is another story:
1st code (proposed in the documentation) working fine:
import jupyros as jr
import rospy
from std_msgs.msg import String

rospy.init_node('jupyter_node')
jr.subscribe('/sometopic', String, lambda msg: print(msg))

2nd code just render a grid without scan, no error message, no warning, nothing.
How to debug???

Here is my code:
import rospy
import jupyros as jr
from jupyros import ros3d
from ipywidgets import Layout
import os

v = ros3d.Viewer()
v.layout=Layout(border="3px solid red",width="800px",height="400px")
rc = ros3d.ROSConnection(url="ws://localhost:9090")
g = ros3d.GridModel()
tf_client = ros3d.TFClient(ros=rc, fixed_frame='/base_link')
laser_view = ros3d.LaserScan(topic="/scan", ros=rc, tf_client=tf_client)
#urdf = ros3d.URDFModel(ros=rc, tf_client=tf_client, path=os.environ.get('JUPYROS_ASSETS_URL', 'http://localhost:3000'))
v.objects = [g, laser_view]
v

live_plot stops working when re-running cell

When doing a live_plot, it seems like the plot will go blank when the cell is run multiple times. I then have to restart the kernel and reload my page. Why is that?

Error running ROS2 notebook rclpy.init and import jupyros.ros2 as jr2

Logging an issue to describe details of errors to answer question from Gitter thread. I tried to run the notebook named - Ros2 Pub_Sub_Communication.ipynb from pre-release https://github.com/RoboStack/jupyter-ros/tree/v0.6.0a0/notebooks and got following errors. It may be some issue with the way I installed the package and extensions. I tried to follow instructions from here to install from source.

I have an env named ros_env which has ROS2 humble installation with full desktop version of humble installed and it works correctly. I also tried to set ROS_DISTRO=humble in the terminal within jupyter-labs to see if it will make any difference but it didn't help.

I also have another env named ros2_foxy where ROS2 foxy is installed and main computer where ROS2 foxy is installed as well with ROS_DISTRO=foxy for main computer. I can see that in the error description it is still trying to look in the paths under /opt/ros/foxy even though I am running in humble so may be that's the main issue somehow.

Please suggest any options as I'm willing to try to get it to work with ROS2 in jypyter-labs. It will be a big help for community overall if I can document how to get it working.

I did make a change in the ~/mambaforge/envs/ros_env/jupyter-ros-0.6.0a0/jupyros/init.py file to change the ros version to 2 and name to humble like this, I thought this was necessary to use ROS2 but I could be wrong:

from ._version import __version__
import os

try:
    ros_version = os.environ['ROS_VERSION']
    ros_distro = os.environ['ROS_DISTRO']
except KeyError:
    # print('No ROS environment detected.')
    # print('Defaulting to ROS noetic.')
    ros_version = '2'
    ros_distro = 'humble'

While running following block of code in jupyter-labs:

## Relative pathing to the Jupyros module (jupyter-ros/jupyros), due to difficulty with with development install
## Remove at PR is Dev Install successful 
import sys
sys.path.append("./../")
import rclpy as rp
import jupyros.ros2 as jr2
from geometry_msgs.msg import Pose, Point
from sensor_msgs.msg import Image

Two main errors received - one saying jupyros not found and the other with context problem related to rp.init()

The rclpy package is not found in your $PYTHONPATH. Subscribe and publish are not going to work.
Do you need to activate your ros2 environment?
---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
Input In [5], in <cell line: 6>()
      4 sys.path.append("./../")
      5 import rclpy as rp
----> 6 import jupyros.ros2 as jr2
      7 from geometry_msgs.msg import Pose, Point
      8 from sensor_msgs.msg import Image

File ~/mambaforge/envs/ros_env/jupyter-ros-0.6.0a0/jupyros/__init__.py:24, in <module>
     19     ros_distro = 'humble'
     21 if ros_version == '2':
     22     # Import ROS2 modules
     23     # print(f'ROS2 {ros_distro} environment detected.')
---> 24     from .ros2.publisher import *
     25     from .ros2.ros_widgets import *
     26     from .ros2.subscriber import *

File ~/mambaforge/envs/ros_env/jupyter-ros-0.6.0a0/jupyros/ros2/__init__.py:16, in <module>
      9 from .._version import __version__
     11 #from ..ros1.ipy import *
     12 #from ..ros1.ros3d import *
     13 #from ..ros1.server_extension import *
     14 #from ..ros1.turtle_sim import *
---> 16 from ..ros2.publisher import *
     17 from ..ros2.ros_widgets import *
     18 from ..ros2.subscriber import *

File ~/mambaforge/envs/ros_env/jupyter-ros-0.6.0a0/jupyros/ros2/publisher.py:42, in <module>
     38 # Used for documentation purposes only
     39 MsgType = TypeVar('MsgType')
---> 42 class Publisher():
     43     """
     44     Creates a class containing the form widget for message type `msg_type`.
     45     This class analyzes the fields of msg_type and creates
   (...)
     55 
     56     """
     57     def __init__(self, node: Node, msg_type: MsgType, topic: str) -> None:
     58         # Check if a ros2 node is provided.

File ~/mambaforge/envs/ros_env/jupyter-ros-0.6.0a0/jupyros/ros2/publisher.py:57, in Publisher()
     42 class Publisher():
     43     """
     44     Creates a class containing the form widget for message type `msg_type`.
     45     This class analyzes the fields of msg_type and creates
   (...)
     55 
     56     """
---> 57     def __init__(self, node: Node, msg_type: MsgType, topic: str) -> None:
     58         # Check if a ros2 node is provided.
     59         if (not isinstance(node, Node) or not issubclass(type(node), Node)):
     60             raise TypeError(
     61                 "Input argument 'node' is not of type rclpy.node.Node!")

NameError: name 'Node' is not defined
# Initialize ROS communications for a given context
rp.init()
---------------------------------------------------------------------------
ModuleNotFoundError                       Traceback (most recent call last)
Input In [4], in <cell line: 2>()
      1 # Initialize ROS communications for a given context
----> 2 rp.init()

File /opt/ros/foxy/lib/python3.8/site-packages/rclpy/__init__.py:70, in init(args, context)
     62 def init(*, args: Optional[List[str]] = None, context: Context = None) -> None:
     63     """
     64     Initialize ROS communications for a given context.
     65 
   (...)
     68         (see :func:`.get_default_context`).
     69     """
---> 70     context = get_default_context() if context is None else context
     71     return context.init(args)

File /opt/ros/foxy/lib/python3.8/site-packages/rclpy/utilities.py:34, in get_default_context(shutting_down)
     32 global g_default_context
     33 if g_default_context is None:
---> 34     g_default_context = Context()
     35 if shutting_down:
     36     old_context = g_default_context

File /opt/ros/foxy/lib/python3.8/site-packages/rclpy/context.py:37, in Context.__init__(self)
     36 def __init__(self):
---> 37     from rclpy.impl.implementation_singleton import rclpy_implementation
     38     from .handle import Handle
     39     self._handle = Handle(rclpy_implementation.rclpy_create_context())

File /opt/ros/foxy/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py:31, in <module>
     15 """
     16 Provide singleton access to the rclpy C modules.
     17 
   (...)
     26         # ...
     27 """
     29 from rclpy.impl import _import
---> 31 rclpy_implementation = _import('._rclpy')
     32 rclpy_action_implementation = _import('._rclpy_action')
     33 rclpy_logging_implementation = _import('._rclpy_logging')

File /opt/ros/foxy/lib/python3.8/site-packages/rclpy/impl/__init__.py:28, in _import(name)
     23 try:
     24     # Since Python 3.8, on Windows we should ensure DLL directories are
     25     # explicitly added to the search path.
     26     # See https://docs.python.org/3/whatsnew/3.8.html#bpo-36085-whatsnew
     27     with add_dll_directories_from_env('PATH'):
---> 28         return importlib.import_module(name, package='rclpy')
     29 except ImportError as e:
     30     if e.path is None:

File ~/mambaforge/envs/ros_env/lib/python3.9/importlib/__init__.py:127, in import_module(name, package)
    125             break
    126         level += 1
--> 127 return _bootstrap._gcd_import(name[level:], package, level)

ModuleNotFoundError: No module named 'rclpy._rclpy'
The C extension '/opt/ros/foxy/lib/python3.8/site-packages/rclpy/_rclpy.cpython-39-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions

real-time, time series plotting example

Hi - where can I find an example of how to do real-time, time series plotting - as shown in your blog ? It's fantastic - me want ! :)

https://blog.jupyter.org/ros-jupyter-b7e82b5e1202

Publishing rate from Jupyter is not correct.

Hi,

When I tried to publish string message using Start button with rate = 10, I noticed from the terminal when I ran rostopic hz the frequency was increasing constantly with low increases from 0.1 hz to 9.8 hz.

How can I avoid this issue?

Unsuccesful development install

Actions:

$ pip3 install "git+https://github.com/Robostack/jupyter-ros"

Environment:
Ubuntu 22.0, Ros2 Humble

Expected Results:

Successful install

Result:

Building wheels for collected packages: jupyros
  Building wheel for jupyros (pyproject.toml) ... error
  error: subprocess-exited-with-error
  
  × Building wheel for jupyros (pyproject.toml) did not run successfully.
  │ exit code: 1
  ╰─> [47 lines of output]
      yarn install v1.21.1
      [1/4] Resolving packages...
      [2/4] Fetching packages...
      [3/4] Linking dependencies...
      warning "@jupyter-widgets/base > @lumino/[email protected]" has unmet peer dependency "[email protected]".
      [4/4] Building fresh packages...
      $ webpack
      node:internal/crypto/hash:71
        this[kHandle] = new _Hash(algorithm, xofLen);
                        ^
      
      Error: error:0308010C:digital envelope routines::unsupported
          at new Hash (node:internal/crypto/hash:71:19)
          at Object.createHash (node:crypto:133:10)
          at BulkUpdateDecorator.hashFactory (/tmp/pip-req-build-2e5z22x1/js/node_modules/webpack/lib/util/createHash.js:144:18)
          at BulkUpdateDecorator.update (/tmp/pip-req-build-2e5z22x1/js/node_modules/webpack/lib/util/createHash.js:46:50)
          at OriginalSource.updateHash (/tmp/pip-req-build-2e5z22x1/js/node_modules/webpack/node_modules/webpack-sources/lib/OriginalSource.js:104:8)
          at NormalModule._initBuildHash (/tmp/pip-req-build-2e5z22x1/js/node_modules/webpack/lib/NormalModule.js:753:17)
          at handleParseResult (/tmp/pip-req-build-2e5z22x1/js/node_modules/webpack/lib/NormalModule.js:817:10)
          at /tmp/pip-req-build-2e5z22x1/js/node_modules/webpack/lib/NormalModule.js:908:4
          at processResult (/tmp/pip-req-build-2e5z22x1/js/node_modules/webpack/lib/NormalModule.js:640:11)
          at /tmp/pip-req-build-2e5z22x1/js/node_modules/webpack/lib/NormalModule.js:692:5 {
        opensslErrorStack: [ 'error:03000086:digital envelope routines::initialization error' ],
        library: 'digital envelope routines',
        reason: 'unsupported',
        code: 'ERR_OSSL_EVP_UNSUPPORTED'
      }
      
      Node.js v18.10.0
      error Command failed with exit code 1.
      info Visit https://yarnpkg.com/en/docs/cli/install for documentation about this command.
      Traceback (most recent call last):
        File "/home/dobots/anaconda3/lib/python3.9/site-packages/pip/_vendor/pep517/in_process/_in_process.py", line 363, in <module>
          main()
        File "/home/dobots/anaconda3/lib/python3.9/site-packages/pip/_vendor/pep517/in_process/_in_process.py", line 345, in main
          json_out['return_val'] = hook(**hook_input['kwargs'])
        File "/home/dobots/anaconda3/lib/python3.9/site-packages/pip/_vendor/pep517/in_process/_in_process.py", line 261, in build_wheel
          return _build_backend().build_wheel(wheel_directory, config_settings,
        File "/tmp/pip-build-env-27q3pzbo/overlay/lib/python3.9/site-packages/jupyter_packaging/build_api.py", line 22, in build_wheel
          builder()
        File "/tmp/pip-build-env-27q3pzbo/overlay/lib/python3.9/site-packages/jupyter_packaging/setupbase.py", line 231, in builder
          run(npm_cmd + ["install"], cwd=node_package)
        File "/tmp/pip-build-env-27q3pzbo/overlay/lib/python3.9/site-packages/jupyter_packaging/setupbase.py", line 297, in run
          return subprocess.check_call(cmd, **kwargs)
        File "/home/dobots/anaconda3/lib/python3.9/subprocess.py", line 373, in check_call
          raise CalledProcessError(retcode, cmd)
      subprocess.CalledProcessError: Command '['/tmp/pip-build-env-27q3pzbo/overlay/bin/jlpm', 'install']' returned non-zero exit status 1.
      [end of output]
  
  note: This error originates from a subprocess, and is likely not a problem with pip.
  ERROR: Failed building wheel for jupyros
Failed to build jupyros
ERROR: Could not build wheels for jupyros, which is required to install pyproject.toml-based projects
`

edit README to git clone from RoboStack/jupyter-ros instead of wolfv/jupyter-ros repo

Please consider editing the README.md development installation instructions to
git clone https://github.com/RoboStack/jupyter-ros.git

Instead of
git clone https://github.com/wolfv/jupyter-ros.git

(or adding some kind of warning since both repositories are popular)

It took me too much time to figure out why the newer features in the RoboStack master branch where not working.

Thanks for this great project!

Installation problem

I think I have it almost installed except this...

Can't see URDFModel

Hi,

Thanks a lot for this great project!

Unfortunately, I can't play correctly the notebooks.

Here is a screenshot of ROS robo to compare to a screenshot from rviz.

I have no interesting message on the roslaunch outputs.

Thanks!

Not working with jupyter lab 2.0.1

I'm getting this error:

index.js:276 Plugin 'jupyter-ros' failed to activate.
(anonymous) @ index.js:276
index.js:277 Error: No provider for: jupyter.extensions.jupyterWidgetRegistry.
    at f.e.resolveRequiredService (index.js:191)
    at index.js:149
    at Array.map (<anonymous>)
    at f.e.activatePlugin (index.js:149)
    at index.js:275
    at Array.map (<anonymous>)
    at f.e.start (index.js:274)
    at o (index.out.js:1059)

Digging in the problem comes from base.IJupyterWidgetRegistry in https://github.com/RoboStack/jupyter-ros/blob/master/js/lib/labplugin.js#L14 not being the same object as the object saved in the serivice map. I think it's because the deduplication step is not doing what it should, when I install with jupyter labextension install jupyter-ros --debug I'm getting:

> node /usr/local/lib/python3.6/dist-packages/jupyterlab/staging/yarn.js yarn-deduplicate -s fewer --fail
|yarn run v1.21.1
$ /usr/local/share/jupyter/lab/staging/node_modules/.bin/yarn-deduplicate -s fewer --fail
error Command failed with exit code 1.
info Visit https://yarnpkg.com/en/docs/cli/run for documentation about this command.

Not sure how to fix this one

How to plot multiple topics using the live_plotting feature?

Hi,

I need to plot several topics at the same window using live_plot() function, is that possible?

Thanks,
Mohammad

Upgrade to JupyterLab 4 and Notebook 7

The extension (v0.7.0) is currently not compatible with JupyterLab>=4.0 and Notebook>=7.0

License

Please consider adding license information to your repo and files

Custom ROS Messages import from ROS MODULE in CATKIN workspace

I would like to import custom ROS message types definitions from another ROS module lying in the same catkin workspace as the jupyter notebook. Anyone knows how to do that?

Actually it would be great to run the jupyter-ros notebook as catkin module, to realize a live monitoring node of the stack. Any ideas?

Thanks a lot.

Riko

OSError: [Errno 13] Permission denied: '/usr/share/jupyter'

Hi I tried to run the following:
jupyter nbextension install --py --symlink --sys-prefix jupyros

but ended up getting this error instead.

OSError: [Errno 13] Permission denied: '/usr/share/jupyter'

jupyros | error adding extension (enabled: True): name 'Unicode' is not defined

Hi@all,

i am getting the following error after installing jupyros with micromamba:

    Traceback (most recent call last):
      File "/home/mirkosertic/micromamba/envs/ros_jupyter/lib/python3.9/site-packages/jupyter_server/extension/manager.py", line 319, in add_extension
        extpkg = ExtensionPackage(name=extension_name, enabled=enabled)
      File "/home/mirkosertic/micromamba/envs/ros_jupyter/lib/python3.9/site-packages/jupyter_server/extension/manager.py", line 183, in __init__
        self._load_metadata()
      File "/home/mirkosertic/micromamba/envs/ros_jupyter/lib/python3.9/site-packages/jupyter_server/extension/manager.py", line 192, in _load_metadata
        self.module, self.metadata = get_metadata(name, logger=self.log)
      File "/home/mirkosertic/micromamba/envs/ros_jupyter/lib/python3.9/site-packages/jupyter_server/extension/utils.py", line 71, in get_metadata
        module = importlib.import_module(package_name)
      File "/home/mirkosertic/micromamba/envs/ros_jupyter/lib/python3.9/importlib/__init__.py", line 127, in import_module
        return _bootstrap._gcd_import(name[level:], package, level)
      File "<frozen importlib._bootstrap>", line 1030, in _gcd_import
      File "<frozen importlib._bootstrap>", line 1007, in _find_and_load
      File "<frozen importlib._bootstrap>", line 986, in _find_and_load_unlocked
      File "<frozen importlib._bootstrap>", line 680, in _load_unlocked
      File "<frozen importlib._bootstrap_external>", line 850, in exec_module
      File "<frozen importlib._bootstrap>", line 228, in _call_with_frames_removed
      File "/home/mirkosertic/micromamba/envs/ros_jupyter/lib/python3.9/site-packages/jupyros/__init__.py", line 16, in <module>
        from .ros3d import *
      File "/home/mirkosertic/micromamba/envs/ros_jupyter/lib/python3.9/site-packages/jupyros/ros3d.py", line 60, in <module>
        class ROSConnection(widgets.Widget):
      File "/home/mirkosertic/micromamba/envs/ros_jupyter/lib/python3.9/site-packages/jupyros/ros3d.py", line 75, in ROSConnection
        url = Unicode(os.environ.get("JUPYROS_WEBSOCKET_URL", "ws://{hostname}:9090")).tag(sync=True)
    NameError: name 'Unicode' is not defined

any ideas what I am missing? I'd really like to give it a try, but unfortunately there is this issue in my environment, and I really do not have a glue about how to proceed.

For completeness, here is the command I used to create a fresh environment:

micromamba create -n ros_jupyter python=3.9 jupyter-ros -c robostack -c conda-forge --no-channel-priority --override-channels

TF display widget

Is there a TF display widget similar to the one in RViz that visualizes all broadcasted reference frames? From the code it seems like TFClient does not have any display capabilities.

Importing custom messages from other ROS packages

What is the right course of action for accessing custom messages from other ROS packages? I was trying to see if there was something in the examples, but I couldn't find anything.

AMCL_pose for ros3D

Is there a way to use directly the pose from AMCL (PoseWithCovarianceStamped) in the ros3d.Pose() widget? Right now I have to create another publisher to publish a PoseStamped message using this code :

pose_msg = Pose()
def amcl_callback(msg):
    global pose_msg
    pose_msg = msg.pose.pose
    pose = PoseStamped()

    pose.header.seq = 1
    pose.header.stamp = rospy.Time.now()
    pose.header.frame_id = "map"

    pose.pose.position.x = pose_msg.position.x
    pose.pose.position.y = pose_msg.position.y
    pose.pose.position.z = 0.0

    pose.pose.orientation.x = pose_msg.orientation.x
    pose.pose.orientation.y = pose_msg.orientation.y
    pose.pose.orientation.z = pose_msg.orientation.z
    pose.pose.orientation.w = pose_msg.orientation.w

    pose_pub.publish(pose)

Getting widgets to render

Hi, great job on this. I'm excited to see where it goes.

Just some feedback... In order to get the widgets to render in Jupyter Notebook, I had to install ipywidgets.

I did so by executing the following:

pip install ipywidgets
jupyter nbextension enable --py widgetsnbextension

ROS2 support?

Do you have a time estimate for when / if there will be ROS2 support?

AttributeError: 'NoneType' object has no attribute 'register_magic_function'

commands to reproduce:

pip3 install jupyros
jupyter nbextension enable --py --sys-prefix jupyros

on version 0.2.0 gave the output:

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?
Enabling notebook extension jupyter-ros/extension...
      - Validating: OK

now in version 0.2.1 gives the error:

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?
Traceback (most recent call last):
  File "/usr/local/bin/jupyter-nbextension", line 10, in <module>
    sys.exit(main())
  File "/usr/local/lib/python3.6/dist-packages/jupyter_core/application.py", line 267, in launch_instance
    return super(JupyterApp, cls).launch_instance(argv=argv, **kwargs)
  File "/usr/local/lib/python3.6/dist-packages/traitlets/config/application.py", line 658, in launch_instance
    app.start()
  File "/usr/local/lib/python3.6/dist-packages/notebook/nbextensions.py", line 988, in start
    super(NBExtensionApp, self).start()
  File "/usr/local/lib/python3.6/dist-packages/jupyter_core/application.py", line 256, in start
    self.subapp.start()
  File "/usr/local/lib/python3.6/dist-packages/notebook/nbextensions.py", line 896, in start
    self.toggle_nbextension_python(self.extra_args[0])
  File "/usr/local/lib/python3.6/dist-packages/notebook/nbextensions.py", line 872, in toggle_nbextension_python
    logger=self.log)
  File "/usr/local/lib/python3.6/dist-packages/notebook/nbextensions.py", line 483, in enable_nbextension_python
    logger=logger)
  File "/usr/local/lib/python3.6/dist-packages/notebook/nbextensions.py", line 380, in _set_nbextension_state_python
    m, nbexts = _get_nbextension_metadata(module)
  File "/usr/local/lib/python3.6/dist-packages/notebook/nbextensions.py", line 1122, in _get_nbextension_metadata
    m = import_item(module)
  File "/usr/local/lib/python3.6/dist-packages/traitlets/utils/importstring.py", line 42, in import_item
    return __import__(parts[0])
  File "/usr/local/lib/python3.6/dist-packages/jupyros/__init__.py", line 5, in <module>
    from .ipy import *
  File "/usr/local/lib/python3.6/dist-packages/jupyros/ipy.py", line 9, in <module>
    @register_cell_magic
  File "/usr/local/lib/python3.6/dist-packages/IPython/core/magic.py", line 238, in magic_deco
    ip.register_magic_function(func, magic_kind, name)
AttributeError: 'NoneType' object has no attribute 'register_magic_function'

ImportError: No module named jupyros

Hi! Thanks for your repo.
When I run
!jupyter nbextension enable --py --sys-prefix jupyros
I get an error. Could anyone help me ?

Traceback (most recent call last):
  File "/usr/local/bin/jupyter-nbextension", line 8, in <module>
    sys.exit(main())
  File "/usr/local/lib/python2.7/dist-packages/jupyter_core/application.py", line 267, in launch_instance
    return super(JupyterApp, cls).launch_instance(argv=argv, **kwargs)
  File "/usr/local/lib/python2.7/dist-packages/traitlets/config/application.py", line 658, in launch_instance
    app.start()
  File "/usr/local/lib/python2.7/dist-packages/notebook/nbextensions.py", line 988, in start
    super(NBExtensionApp, self).start()
  File "/usr/local/lib/python2.7/dist-packages/jupyter_core/application.py", line 256, in start
    self.subapp.start()
  File "/usr/local/lib/python2.7/dist-packages/notebook/nbextensions.py", line 896, in start
    self.toggle_nbextension_python(self.extra_args[0])
  File "/usr/local/lib/python2.7/dist-packages/notebook/nbextensions.py", line 872, in toggle_nbextension_python
    logger=self.log)
  File "/usr/local/lib/python2.7/dist-packages/notebook/nbextensions.py", line 483, in enable_nbextension_python
    logger=logger)
  File "/usr/local/lib/python2.7/dist-packages/notebook/nbextensions.py", line 380, in _set_nbextension_state_python
    m, nbexts = _get_nbextension_metadata(module)
  File "/usr/local/lib/python2.7/dist-packages/notebook/nbextensions.py", line 1122, in _get_nbextension_metadata
    m = import_item(module)
  File "/usr/local/lib/python2.7/dist-packages/traitlets/utils/importstring.py", line 42, in import_item
    return __import__(parts[0])
ImportError: No module named jupyros

'widget_for_msg' does not exist

Hello,

I got this error while tring to create my widget with your example. I checked the source code and the widget_for_msg function doesn't seem to exist. Also could you give me an example of the use of the jupyros.add_widgets function ?
Thank you very much

AttributeError Traceback (most recent call last)
in ()
----> 1 jupyros.widget_for_msg()

AttributeError: module 'jupyros' has no attribute 'widget_for_msg'

Lab 3 Update

Upgrade script: https://jupyterlab.readthedocs.io/en/stable/extension/extension_migration.html#upgrading-library-versions-using-the-upgrade-script

jupyter notebook: libgcc_s.so.1 must be installed for pthread_cancel to work

When starting a jupyter notebook (or jupyter lab) I get the error:

libgcc_s.so.1 must be installed for pthread_cancel to work
Aborted (core dumped)

This only happens after I install jupyter-ros. Any ideas?

I'm using Python 3.7 in a conda 4.8.3 environment.

[feature request] support bag files

This looks really promising!

However instead of accepting live data, IMHO a more common use case for jupyter is to analyze recorded data. So in the ROS context that usually means bag files.

It would be great to have good support for bag files.

https://github.com/cruise-automation/webviz could be useful here as well.

Any documentation on ROS specific feature, e.g widgets?

Distribution on conda-forge

Hi @hbcarlos @wolfv - are you happy for me to put jupyter-ros (and jupyterlab-ros) on conda-forge? This will make installation significantly easier, especially in conjunction with ros-noetic.

Dependencies with packages' versions

Hi,

I am glad development continues - thanks so much. We had built a docker container after we found out what versions of extensions and python packages works with jupy ros. After the update on th e 15th it is broken again. Currently we fixed it by forcing to use jupyros 0.12a0.

Could you please provide an enviroment.yml with versions of python packages and widget extensions used, when you update things?

Thanks a lot

regards

Riko

robostack / jupyter-ros Goto Github PK

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